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dc.contributor.authorAlbarakati, Sultan
dc.contributor.authorLima, Ricardo
dc.contributor.authorTheußl, Thomas
dc.contributor.authorHoteit, Ibrahim
dc.contributor.authorKnio, Omar
dc.identifier.citationAlbarakati, 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.2020.108057
dc.description.abstractThis 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.
dc.description.sponsorshipResearch 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.
dc.publisherElsevier BV
dc.rightsNOTICE: this is the author’s version of a work that was accepted for publication in Ocean Engineering. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Ocean Engineering, [218, , (2020-11-01)] DOI: 10.1016/j.oceaneng.2020.108057 . © 2020. This manuscript version is made available under the CC-BY-NC-ND 4.0 license
dc.subjectTime-energy trajectory planning
dc.subjectOcean General Circulation Model
dc.subjectGulf of Aden
dc.subjectPareto optimal solutions
dc.subjectunsteady ocean current
dc.titleOptimal 3D time-energy trajectory planning for AUVs using ocean general circulation models
dc.contributor.departmentApplied Mathematics and Computational Science Program
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
dc.contributor.departmentEarth Fluid Modeling and Prediction Group
dc.contributor.departmentEarth Science and Engineering Program
dc.contributor.departmentPhysical Science and Engineering (PSE) Division
dc.identifier.journalOcean Engineering
dc.contributor.institutionVisualization Core labratory
kaust.personAlbarakati, Sultan Saud
kaust.personLima, Ricardo
kaust.personTheußl, Thomas
kaust.personHoteit, Ibrahim
kaust.personKnio, Omar
display.relations<b>Is Supplemented By:</b> <br/><ul> <li><i>[Video]</i> <br/> 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: <a href=""></a></li></ul>
kaust.acknowledged.supportUnitCore Labs
kaust.acknowledged.supportUnitKAUST Core Lab

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