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Increasing underwater vehicle autonomy by reducing energy consumption |
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| Authors: | M Chyba SB Singh SK Choi |
| Institution: | a Department of Mathematics, College of Natural Sciences, University of Hawaii, Honolulu, HI 96822, USA b Department of Ocean and Resources Engineering, University of Hawaii, Honolulu, HI 96822, USA c Autonomous System Laboratory, College of Engineering, University of Hawaii, Honolulu, HI 96822, USA d Laboratoire MAPMO, Université d’Orléans, 45067 Orléans Cedex 2, France |
| Abstract: | In this paper, we concern ourselves with finding a control strategy that minimizes energy consumption along a trajectory connecting two given configurations. We develop an algorithm, based on our previous work with the time optimal problem, which provides implementable control strategies that are energy efficient. We find an interesting correlation between the duration of these trajectories and the optimal duration. We present the algorithm, control strategy and experimental results from our test-bed vehicle. |
| Keywords: | Autonomous underwater vehicle Minimum energy consumption Optimal control Experiments |
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