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A Geometric Analysis of Trajectory Design for Underwater Vehicles

Abstract : Designing trajectories for a submerged rigid body motivates this paper. Two approaches are addressed: the time optimal approach and the motion planning approach using a concatenation of kinematic motions. We focus on the structure of singular extremals and their relation to the existence of rank-one kinematic reductions; thereby linking the optimization problem to the inherent geometric framework. Using these kinematic reductions, we provide a solution to the motion planning problem in the under-actuated scenario, or equivalently, in the case of actuator failures. We finish the paper comparing a time optimal trajectory to one formed by a concatenation of pure motions.
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Contributor : Thomas Haberkorn <>
Submitted on : Wednesday, March 11, 2009 - 11:19:24 AM
Last modification on : Thursday, August 1, 2019 - 10:20:03 AM

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Monique Chyba, Thomas Haberkorn, Ryan Smith, George Wilkens. A Geometric Analysis of Trajectory Design for Underwater Vehicles. Discrete and Continuous Dynamical Systems - Series B, American Institute of Mathematical Sciences, 2009, 11 (2), pp.233-262. ⟨10.3934/dcdsb.2009.11.233⟩. ⟨hal-00367422⟩



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