109 潮流外乱中における自律型水中ビークルの最適及び準最適航行

概要

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A minimum time navigation strategy and its practical implementation of an AUV in current disturbances are addressed. The navigation realized by our approach is defined as quasi-optimal navigation. Reactive and interactive cooperation between optimal guidance and tracking control is the foundation of quasi-optimal navigation. To achieve the optimal guidance, a numerical procedure to obtain its solution is presented. Developed solution procedure never fails to derive optimal vehicle headings for minimum time navigation, if only flow distribution in navigation region is deterministic. Quasi-optimal strategy is especially useful in case of environmental uncertainties or obstacles in navigation region. Simplicity is another notable characteristic of the quasi-optimal strategy, compared to the optimal one. Simulations of quasi-optimal navigations are conducted based on the dynamics of an AUV "r2D4". The r2D4 is a deep ocean exploring AUV, developed by IIS, the University of Tokyo.
社団法人日本機械学会の論文
2008-11-26