On spatial trajectory planning & open-loop control for underactuated AUVs

Repoulias, F; Papadopoulos, E

dc.contributor.author	Repoulias, F	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:50:45Z
dc.date.available	2014-03-01T02:50:45Z
dc.date.issued	2006	en
dc.identifier.issn	14746670	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/35154
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-80051585412&partnerID=40&md5=a4a5bf78b181342ebb9da579f7969258	en
dc.subject	3D trajectory planning	en
dc.subject	Tracking	en
dc.subject	Underactuated AUV	en
dc.subject.other	3-D trajectory	en
dc.subject.other	Control inputs	en
dc.subject.other	Open loop control	en
dc.subject.other	Open loops	en
dc.subject.other	Spatial planning	en
dc.subject.other	Spatial trajectory	en
dc.subject.other	Tracking controller	en
dc.subject.other	Underactuated	en
dc.subject.other	Vehicle dynamic model	en
dc.subject.other	Vehicle orientation	en
dc.subject.other	Autonomous underwater vehicles	en
dc.subject.other	Control theory	en
dc.subject.other	Controllers	en
dc.subject.other	Robot programming	en
dc.subject.other	Three dimensional	en
dc.subject.other	Three dimensional computer graphics	en
dc.subject.other	Trajectories	en
dc.title	On spatial trajectory planning & open-loop control for underactuated AUVs	en
heal.type	conferenceItem	en
heal.publicationDate	2006	en
heal.abstract	This paper considers the problem of spatial planning and open-loop control for underactuated AUVs. Given a smooth inertial 3D trajectory to be followed by some vehicle point, the developed algorithm uses the vehicle dynamic model, and computes the 3D corresponding body-fixed linear and angular velocities as well as vehicle orientations, yielding a feasible 6 DOF trajectory. The design of tracking controllers is then facilitated by using this trajectory, which is consistent with AUV dynamics. The full 6 DOF computed trajectory is further used to compute the efforts for the three available control inputs and to result in an open-loop trajectory controller. Copyright © 2006 IFAC.	en
heal.journalName	IFAC Proceedings Volumes (IFAC-PapersOnline)	en
dc.identifier.volume	8	en
dc.identifier.issue	PART 1	en