Optimal Waypoint Navigation for Underactuated Cruising AUVS

Kangsoo Kim

2019

Abstract

An advanced approach to the waypoint-based navigation for near-bottom survey of a cruising AUV is presented. Pursuing vehicle safety as well as high-definition bottom survey data, we apply GDS-based optimization technique for achieving waypoint-based minimum-altitude flight of an underactuated cruising AUV. While the objective of our optimization is minimizing average altitude of a vehicle throughout its flight interval, depth or altitude references on waypoints are used as control inputs. In our optimization, bottom bathymetry is incorporated as a constraint used for bottom collision avoidance. As another constraint, dynamic model of an AUV is included. By solving the dynamic model in time domain, motion responses of the vehicle following reference waypoints are derived. Our approach of the optimal waypoint navigation is validated by not only simulation but also actual at-sea deployment of an AUV.

Paper Citation

in Harvard Style

Kim K. (2019). Optimal Waypoint Navigation for Underactuated Cruising AUVS.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 124-134. DOI: 10.5220/0007931901240134

in Bibtex Style

@conference{icinco19,
author={Kangsoo Kim},
title={Optimal Waypoint Navigation for Underactuated Cruising AUVS},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={124-134},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007931901240134},
isbn={978-989-758-380-3},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Optimal Waypoint Navigation for Underactuated Cruising AUVS
SN - 978-989-758-380-3
AU - Kim K.
PY - 2019
SP - 124
EP - 134
DO - 10.5220/0007931901240134