Optimal Guidance for Autonomous Underwater Vehicle Navigation within Undersea Areas of Current Disturbances

Authors: Kim, Kangsoo¹; Ura, Tamaki²

Source: Advanced Robotics, Volume 23, Number 5, 2009 , pp. 601-628(28)

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Abstract:

Simulated navigations of an autonomous underwater vehicle (AUV) achieved by the minimum time guidance within undersea areas of current disturbances are presented. When an AUV has to transit to a given destination within an area of current disturbance, ingenious guidance enables the minimum time navigation. In this study, a numerical solution procedure for an optimal heading guidance law is developed. As the optimal heading reference, the solution of the optimal guidance law is fed to the heading controller. Simulated optimal navigations are realized on the basis of the dynamics of an AUV 'r2D4'. The r2D4 is a deep-ocean-exploring AUV, developed by the Institute of Industrial Science, University of Tokyo. The developed procedure never fails to derive the optimal heading sequence within a finite computational time, provided that the current velocity in the navigation region is known a priori. As a fail-safe strategy in achieving the optimal navigation, the concept of quasi-optimal navigation is presented. The quasi-optimal navigation is implemented by on-site updates of optimal guidances followed by the heading tracking control.

Keywords: OPTIMAL GUIDANCE; MINIMUM TIME; AUTONOMOUS UNDERWATER VEHICLE; DISTURBANCE; QUASI-OPTIMAL

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855309X420093

Affiliations: 1: NTT Communication Science Laboratories, Nippon Telegraph and Telephone Corporation, 3-1 Morinosato Wakamiya, Atsugi, Kanagawa 243-0198, Japan 2: Institute of Industrial Science, University of Tokyo, 4-6-1 Komaba, Meguro, Tokyo 153-8505, Japan

Publication date: 2009-03-01