I. Spangelo et O. Egeland, TRAJECTORY PLANNING AND COLLISION-AVOIDANCE FOR UNDERWATER VEHICLES USING OPTIMAL-CONTROL, IEEE journal of oceanic engineering, 19(4), 1994, pp. 502-511
Energy-optimal trajectories for underwater vehicles can be computed us
ing a numerical solution of the optimal control problem. A performance
index consisting of a weighted combination of energy and time consump
tion is proposed. Collision avoidance is solved by including path cons
traints. Control vector parameterization with direct single shooting i
s used in this study. The vehicle is modeled with six-dimensional nonl
inear and coupled equations of motion. Optimal trajectories are comput
ed for a vehicle controlled in all six degrees of freedom by dc-motor-
driven thrusters. Good numerical results are achieved.