Author:
Kangsoo Kim
Affiliation:
National Maritime Research Institute, National Institute of Maritime, Port, and Aviation Technology, 6-38-1 Shinkawa, Mitaka, Tokyo 181-0004 and Japan
Keyword(s):
Suboptimal, Navigation, Uncertainty, Variable, Sea Current, Minimum-time, Marine Vehicle.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Robotics and Automation
;
Space and Underwater Robotics
;
Vehicle Control Applications
Abstract:
A navigation strategy achieving suboptimality in the transits of autonomous marine vehicles is presented. The objective of optimal navigation is the minimum-time transit of a marine vehicle moving in a flow field of sea currents. Reactive revisions of an ongoing optimal navigation followed by tracking controls are the key features of the proposed suboptimal strategy. In this research, a globally working numerical procedure for obtaining the solution of an optimal heading guidance law is presented. The developed solution procedure derives optimal heading reference that achieves the minimum-time transit of a marine vehicle in any deterministic sea currents whether stationary or time varying. The proposed suboptimal navigation works as a fail-safe strategy for the optimal navigation when there happen significant hostile actions which possibly cause the failure in ongoing optimal navigation. Simplicity and robustness are notable characteristics of our suboptimal strategy compared to othe
rs seeking rigorous optimality. Simulation results of autonomous underwater vehicle routing conducted by suboptimal navigation in various sea currents are presented.
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