Accession Number:

ADA193030

Title:

A Feasibility Study in Path Planning Using Optimization Techniques.

Descriptive Note:

Master's thesis,

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s):

• Sanders, David W.

Report Date:

1987-12-01

Pagination or Media Count:

91.0

Abstract:

Path Planning is an intricate part of the navigation function of any vehicle traveling between two points in space. In an autonomous underwater vehicle, a trajectory may be planned between two points using the optimization techniques of ADS Advanced Design Synthesis coupled to a motion analysis routine, DSL Dynamic Simulation Language. The problem is posed as a two-point-boundary-value problem with initial states and desired final states known, as well as a final time specified. The objective function is minimized in the form of a quadratic regulator for the purpose of conserving the vehicles energy supply. An obstacle in the dive plane X-Z plane is introduced and successfully avoided using the constrained optimization technique. The use of optimization is proven as a feasible method for successfully planning the trajectories of underwater vehicles.

Descriptors:

• *AUTONOMOUS NAVIGATION
• *UNDERWATER TRAJECTORIES
• DYNAMICS
• ENERGY
• FEASIBILITY STUDIES
• MOTION
• OPTIMIZATION
• PATHS
• PLANNING
• QUADRATIC EQUATIONS
• REGULATORS
• SIMULATION LANGUAGES
• SYNTHESIS
• THESES
• UNDERWATER VEHICLES
• VEHICLES
• BOUNDARY VALUE PROBLEMS

Subject Categories:

• Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE