Accession Number : ADA193030

Title :   A Feasibility Study in Path Planning Using Optimization Techniques.

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Sanders, David W

PDF Url : ADA193030

Report Date : Dec 1987

Pagination or Media Count : 91

Abstract : Path Planning is an intricate part of the navigation function of any vehicle traveling between two points in space. In an autonomous underwater vehicle, a trajectory may be planned between two points using the optimization techniques of ADS (Advanced Design Synthesis) coupled to a motion analysis routine, DSL (Dynamic Simulation Language). The problem is posed as a two-point-boundary-value problem with initial states and desired final states known, as well as a final time specified. The objective function is minimized in the form of a quadratic regulator for the purpose of conserving the vehicles energy supply. An obstacle in the dive plane (X-Z plane) is introduced and successfully avoided using the constrained optimization technique. The use of optimization is proven as a feasible method for successfully planning the trajectories of underwater vehicles.

Descriptors :   *AUTONOMOUS NAVIGATION, *UNDERWATER TRAJECTORIES, DYNAMICS, ENERGY, FEASIBILITY STUDIES, MOTION, OPTIMIZATION, PATHS, PLANNING, QUADRATIC EQUATIONS, REGULATORS, SIMULATION LANGUAGES, SYNTHESIS, THESES, UNDERWATER VEHICLES, VEHICLES, BOUNDARY VALUE PROBLEMS

Subject Categories : Navigation and Guidance

Distribution Statement : APPROVED FOR PUBLIC RELEASE