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