Accession Number : ADA613010


Title :   Determination of an Optimal Control Strategy for a Generic Surface Vehicle


Descriptive Note : Technical rept.


Corporate Author : NAVAL UNDERSEA WARFARE CENTER DIV NEWPORT RI


Personal Author(s) : Wettergren, Thomas A ; Segala, David B ; Chelidze, David


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a613010.pdf


Report Date : 18 Jun 2014


Pagination or Media Count : 30


Abstract : Optimal path planning and control of vehicles becomes of greater importance as more and more tasks are transferred to autonomous agents. The concept of optimal path planning and optimal control of a generic surface vehicle in a constant current flow was investigated. This report documents the development of a three degree-of-freedom model of a generic surface vehicle and describes optimal path planning in a uniform surface current flow environment. The nominal path is derived using a two-point boundary value problem solution with constant propulsion. Optimal control strategy to follow the identified motion path starting from a randomly perturbed initial condition was also investigated and tested using the developed model. It was shown that in a relatively uniform surface current flow environment, the direct path from the initial point to the target location is optimal in terms of expended energy, where the least expended energy corresponds to constant thrust motion with the relative vehicle heading perpendicular to the flow.


Descriptors :   *AUTONOMOUS NAVIGATION , BOUNDARY VALUE PROBLEMS , CONTROL , DETERMINATION , DYNAMIC PROGRAMMING , MOTION , SELF OPERATION , SURFACE EFFECT SHIPS , SURFACE EFFECT VEHICLES , TRAJECTORIES


Subject Categories : Underwater and Marine Navigation and Guidance


Distribution Statement : APPROVED FOR PUBLIC RELEASE