Optimal trajectory generation in ocean flows

• Published in: 2005 American Control Conference pp. 674 - 679 vol. 1
• Main Authors: Inanc, T., Shadden, S.C., Marsden, J.E.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 2005
• Subjects: Contracts; Control systems; Geometry; Kinematics; Lagrangian functions; Oceans; Optimal control; Path planning; Underwater vehicles; Vehicle dynamics
• ISBN: 0780390989; 9780780390980; 9780780390997; 0780390997
• ISSN: 0743-1619
• DOI: 10.1109/ACC.2005.1470035

In this paper it is shown that Lagrangian Coherent Structures (LCS) are useful in determining near optimal trajectories for autonomous underwater gliders in a dynamic ocean environment. This opens the opportunity for optimal path planning of autonomous underwater vehicles by studying the global flow geometry via dynamical systems methods. Optimal glider paths were computed for a 2-dimensionaI kinematic model of an end-point glider problem. Numerical solutions to the optimal control problem were obtained using Nonlinear Trajectory Generation (NTG) software. The resulting solution is compared to corresponding results on LCS obtained using the Direct Lyapunov Exponent method. The velocity data used for these computations was obtained from measurements taken in August, 2000, by HF-Radar stations located around Monterey Bay, CA, USA.