A geometric approach to trajectory design for an autonomous underwater vehicle: surveying the bulbous bow of a ship

DOI10.1007/s10440-011-9616-8zbMath1228.93035MaRDI QIDQ634699

Luca Invernizzi, Song K. Choi, Dario Cazzaro, Ryan N. Smith, Giacomo Marani, Monique Chyba

Publication date: 16 August 2011

Published in: Acta Applicandae Mathematicae (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10440-011-9616-8

zbMATH Keywords

geometric control theory; autonomous underwater vehicle; trajectory design; bulbous bow survey

Mathematics Subject Classification ID

93C95: Application models in control theory

93B51: Design techniques (robust design, computer-aided design, etc.)

93B27: Geometric methods

70Q05: Control of mechanical systems

70E60: Robot dynamics and control of rigid bodies

Cites Work

• Trajectory design for mechanical control systems: from geometry to algorithms
• Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
• A geometrical approach to the motion planning problem for a submerged rigid body
• Motion control of drift-free, left-invariant systems on Lie groups
• Cascaded adaptive control of ocean vehicles with significant actuator dynamics
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