Robotics: Science and Systems XII

Planar Time Optimal Paths for Non-Symmetric Vehicles in Constant Flows

Bilal Hammoud, Elie Shammas


This paper introduces a new kinematic model to describe the planar motion of an Autonomous Underwater Vehicle (AUV) moving in constant current flows. The AUV is modeled as a rigid body moving at maximum attainable forward velocity with symmetric bounds on the control input for the turning rate. The model incorporates the effect a flow will induce on the turning rate of the AUV due to the non-symmetric geometry of the vehicle. The model is then used to characterize and construct the minimum time paths that take the AUV from a given initial configuration to a final configuration in the plane. Two algorithms for the time-optimal path synthesis problem are also introduced along with several simulations to validate the proposed method.



    AUTHOR    = {Bilal Hammoud AND Elie Shammas}, 
    TITLE     = {Planar Time Optimal Paths for Non-Symmetric Vehicles in Constant Flows}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2016}, 
    ADDRESS   = {AnnArbor, Michigan}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2016.XII.031}