Accession Number:

ADA522967

Title:

AUV Rendezvous Trajectories Generation for Underwater Recovery

Descriptive Note:

Conference paper

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Report Date:

2008-06-01

Pagination or Media Count:

7.0

Abstract:

For many years, autonomous underwater vehicles AUVs have been developed and employed for a myriad of tasks. Their ability to accurately collect and monitor oceanic conditions makes them a valuable asset for a variety of naval missions. Deploying and recovering AUVs, however, is currently largely limited to surface vessels or swimmers. The purpose of this paper is to demonstrate that by using a mathematical technique called a direct method of calculus of variations, it is possible for an AUV to autonomously compute and execute a trajectory that will allow for recovery by a submerged mobile recovery system another AUV, submarine, etc.. The algorithm ensures that a smooth trajectory is produced that, while not traditionally optimal, is realistic and still close to the optimal solution. Also using this technique allows the trajectory to be computed very rapidly allowing it to be recomputed every couple of seconds to accommodate sudden changes, possible adjustments and different disturbances, and therefore to be used in the real life.

Subject Categories:

  • Cybernetics
  • Underwater and Marine Navigation and Guidance
  • Submarine Engineering
  • Undersea and Antisubmarine Warfare

Distribution Statement:

APPROVED FOR PUBLIC RELEASE