Trajectory Design for Autonomous Underwater Vehicles for Basin Exploration
Abstract
This paper focuses on the design of efficient trajectories for an autonomous underwater vehicle descending into a basin. The vehicle is assumed to be an oblate spheroid with its actuation generated by a set of thrusters. We will consider several thrusters configuration, both fully actuated and under- actuated. These assumptions are based on two existing vehicles, the Omni Directional Intelligent Navigator, and the Deep Phreatic Thermal Explorer. In this paper we develop control schemes guiding the dive of the vehicle in some of the most common scenarios found in underwater sink holes. We assume a rough knowledge of the environment, thereby focusing the design of our trajectories on exploiting the capabilities of the autonomous underwater vehicles in an effort to map its environment efficiently to the required degree of resolution.
Sign up today - FREE
Mendeley saves you time finding and organizing research. Learn more
- All your research in one place
- Add and import papers easily
- Access it anywhere, anytime