A Geometric Approach to Trajectory Design for an Autonomous Underwater Vehicle: Surveying the Bulbous Bow of a Ship |
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Authors: | Ryan?N?Smith Dario?Cazzaro Luca?Invernizzi Giacomo?Marani Song?K?Choi Email author" target="_blank">Monique?ChybaEmail author |
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Institution: | 1.School of Engineering Systems,Queensland University of Technology,Brisbane,Australia;2.College of Engineering,Sant’Anna School of Advanced Studies,Pisa,Italy;3.Autonomous Systems Laboratory, College of Engineering,University of Hawai‘i,Honolulu,USA;4.Mathematics Department,University of Hawai‘i,Honolulu,USA |
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Abstract: | In this paper, we present a control strategy design technique for an autonomous underwater vehicle based on solutions to the
motion planning problem derived from differential geometric methods. The motion planning problem is motivated by the practical
application of surveying the hull of a ship for implications of harbor and port security. In recent years, engineers and researchers
have been collaborating on automating ship hull inspections by employing autonomous vehicles. Despite the progresses made,
human intervention is still necessary at this stage. To increase the functionality of these autonomous systems, we focus on
developing model-based control strategies for the survey missions around challenging regions, such as the bulbous bow region
of a ship. Recent advances in differential geometry have given rise to the field of geometric control theory. This has proven
to be an effective framework for control strategy design for mechanical systems, and has recently been extended to applications
for underwater vehicles. Advantages of geometric control theory include the exploitation of symmetries and nonlinearities
inherent to the system. |
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