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Unmanned Underwater Vehicles (UUVs) can be utilized to perform difficult tasks in cluttered environments such as harbor and port protection. However, since UUVs have nonlinear and highly coupled dynamics, motion planning and control can be difficult when completing complex tasks. Introducing models into the motion planning process can produce paths the vehicle can feasibly traverse. As a result, Sampling-Based...
This paper presents a few important practice-oriented requirements for optimal path planning for the AUV “SLOCUM Glider” as well as solutions using fast graph based algorithms. These algorithms build upon the TVE (time-varying environment) search algorithm. The experience with this algorithm, requirements of real missions along the Newfoundland and Labrador Shelf and the idea to find the optimal departure...
Future civilian and military missions call for the autonomous coordination and control of unmanned vehicles. This paper presents the implementation of a pseudospectral (PS) optimal control-based algorithm for autonomous trajectory planning and control of multiple UGVs with real-time information updates. The mission of the UGVs is to maintain formation with respect to a lead vehicle traversing from...
In this paper, we consider a differential game theoretic approach to compute optimal strategies by a team of UAVs to evade the attack of an aerial jammer on the communication channel. We formulate the problem as a zero-sum pursuit-evasion game. The cost function is the termination time of the game. We use Isaacs' approach to derive the necessary conditions to arrive at the equations governing the...
In this paper we present a viability-based formulation for the stabilization of an underactuated underwater vehicle under the influence of a known, constant current and state constraints. The stabilization problem is described by three problems in terms of viability theory. We present a solution to the first problem which addresses the safety of the system, i.e. guarantees that there exists a control...
Based on extended set-membership filter (ESMF) and the path planning method in relative velocity coordinates (RVCs), a new 3D multiple Unmanned Aerial Vehicle (UAV) systems active cooperative observation method, high precision cooperative observing a moving target by proper planning the behavior of each member vehicle, is proposed. The new method combines the ESMF based cooperative observation method...
Path planning is basis for any autonomous underwater vehicle to implement completely cruising in subsea environment and path tracking is important technology as well, especially for multi-AUV (Autonomous underwater vehicle) cruising with a fleet formate. In this paper, algorithms path planning and path tracking are addressed for an open frame AUV. Fast Marching algorithm is applied to solve problems...
This work presents a model predictive control based trajectory optimization method for nap-of-the-earth (NOE) flight including obstacle avoidance, emphasizing the mission objective of low altitude at high speed. A NOE trajectory reference is generated over a subspace of the terrain. It is then inserted into the cost function and the resulting trajectory tracking error term is weighted for more precise...
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