TRAJECTORY PLANNING AND COLLISION-AVOIDANCE FOR UNDERWATER VEHICLES USING OPTIMAL-CONTROL

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.