A Suboptimal Strategy for Autonomous Marine Vehicle Navigation in Variable Sea Currents

Kangsoo Kim

2018

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 others seeking rigorous optimality. Simulation results of autonomous underwater vehicle routing conducted by suboptimal navigation in various sea currents are presented.

Paper Citation

in Harvard Style

Kim K. (2018). A Suboptimal Strategy for Autonomous Marine Vehicle Navigation in Variable Sea Currents.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 432-439. DOI: 10.5220/0006906204320439

in Bibtex Style

@conference{icinco18,
author={Kangsoo Kim},
title={A Suboptimal Strategy for Autonomous Marine Vehicle Navigation in Variable Sea Currents},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={432-439},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006906204320439},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Suboptimal Strategy for Autonomous Marine Vehicle Navigation in Variable Sea Currents
SN - 978-989-758-321-6
AU - Kim K.
PY - 2018
SP - 432
EP - 439
DO - 10.5220/0006906204320439