A Feasibility Study in Path Planning Using Optimization Techniques.

Abstract

Path Planning is an intricate part of the navigation function of any vehicle traveling between two points in space. In an autonomous underwater vehicle, a trajectory may be planned between two points using the optimization techniques of ADS (Advanced Design Synthesis) coupled to a motion analysis routine, DSL (Dynamic Simulation Language). The problem is posed as a two-point-boundary-value problem with initial states and desired final states known, as well as a final time specified. The objective function is minimized in the form of a quadratic regulator for the purpose of conserving the vehicles energy supply. An obstacle in the dive plane (X-Z plane) is introduced and successfully avoided using the constrained optimization technique. The use of optimization is proven as a feasible method for successfully planning the trajectories of underwater vehicles.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1987
Accession Number
ADA193030

Entities

People

  • David W. Sanders

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • C4I
  • Weapons Technologies

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Boundary Value Problems
  • Collision Avoidance
  • Command And Control
  • Computational Science
  • Computer Programming
  • Computer Programs
  • Computers
  • Control Surfaces
  • Control Systems
  • Equations
  • Mainframe Computers
  • Motion Planning
  • Nonlinear Dynamics
  • Optimization
  • Plastic Explosives
  • Underwater Vehicles

Readers

  • Operations Research
  • Robotics and Automation.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers