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We study the problem of steering a vehicle from its initial position in a 2D, time-varying, ocean flow field to a desired target position in minimum time. In particular, we focus on the case where the magnitude of the flow field sometimes exceeds the speed of the vehicle, and thus controllability is an issue. In order to obtain globally optimal, closed loop trajectories, one solves a dynamic Hamilton...
This paper introduces a generic dynamic programming function for Matlab. This function solves discrete-time optimal-control problems using Bellman's dynamic programming algorithm. The function is implemented such that the user only needs to provide the objective function and the model equations. The function includes several options for solving optimal-control problems. The model equations can include...
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