Optimal 3D time-energy trajectory planning for AUVs using ocean general circulation models
Name:
preprint-time_energy_trajectory_planning.pdf
Size:
34.63Mb
Format:
PDF
Description:
preprint
Type
ArticleKAUST Department
Applied Mathematics and Computational Science ProgramComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
Earth Fluid Modeling and Prediction Group
Earth Science and Engineering Program
Physical Science and Engineering (PSE) Division
Date
2020-11-01Online Publication Date
2020-11-01Print Publication Date
2020-12Embargo End Date
2022-11-01Submitted Date
2020-01-16Permanent link to this record
http://hdl.handle.net/10754/664028
Metadata
Show full item recordAbstract
This paper develops a new approach for solving optimal time and energy trajectory planning problems for Autonomous Underwater Vehicles (AUVs) in transient, 3D, ocean currents. Realistic forecasts using an Ocean General Circulation Model (OGCM) are used for this purpose. The approach is based on decomposing the problem into a minimal time problem, followed by minimal energy subproblems. In both cases, a non-linear programming (NLP) formulation is adopted. The scheme is demonstrated for time-energy trajectory planning problems in the Gulf of Aden. In particular, the numerical experiments illustrate the capability of generating Pareto optimal solutions in a broad range of mission durations. In addition, the analysis also highlights how the methodology effectively exploits both the vertical structure of the current field, as well as its unsteadiness, namely to minimize travel time and energy consumption.Citation
Albarakati, S., Lima, R. M., Theußl, T., Hoteit, I., & Knio, O. M. (2020). Optimal 3D time-energy trajectory planning for AUVs using ocean general circulation models. Ocean Engineering, 218, 108057. doi:10.1016/j.oceaneng.2020.108057Sponsors
Research reported in this publication was supported by research funding from King Abdullah University of Science and Technology (KAUST), and used resources of the KAUST Core Labs.Publisher
Elsevier BVJournal
Ocean EngineeringAdditional Links
https://linkinghub.elsevier.com/retrieve/pii/S0029801820309999Relations
Is Supplemented By:- [Video]
Videos with results from the paper "Optimal 3D time-energy trajectory planning for AUVs using ocean general circulation models" by Albarakati S., Lima R.M., Theußl T., Hoteit I., Knio O. Handle: http://hdl.handle.net/10754/664034
ae974a485f413a2113503eed53cd6c53
10.1016/j.oceaneng.2020.108057