Optimal Trajectories for Underwater Vehicles by Quantization and Stochastic control

Abstract : We present in this paper a numerical method which computes the trajectory of a vehicle subject to some mission objectives. The method is applied to a submarine whose goal is to best detect one or several targets (we consider signal attenuation due to acoustic propagation) or/and to minimize its own detection range perceived by the other targets. Our approach is based on dynamic programming of a finite horizon Markov decision process. The position and the velocity of the targets are supposed to be known only up to a random estimation error, as a Kalman type filter is used to estimate these quantities from the measurements given by the on board sonar. A quantization method is applied to fully discretize the problem and solve it numerically.
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Contributor : Huilong Zhang <>
Submitted on : Wednesday, May 14, 2014 - 10:05:19 AM
Last modification on : Wednesday, December 5, 2018 - 9:02:07 AM

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Huilong Zhang, Benoîte De Saporta, François Dufour, Dann Laneuville, Adrien Nègre. Optimal Trajectories for Underwater Vehicles by Quantization and Stochastic control. Fusion 2014, Jul 2014, Salamanca, Spain. pp.8, 2014. 〈hal-00990765〉

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