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

DOI10.1007/S10440-011-9616-8MaRDI QIDQ634699zbMATH OpenOpenAlexFDO

Authors R. N. Smith, Dario Cazzaro, Luca Invernizzi, Giacomo Marani, Song K. Choi, 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 theoryautonomous underwater vehicletrajectory designbulbous bow survey

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Design techniques (robust design, computer-aided design, etc.) (93B51) Application models in control theory (93C95) Geometric methods (93B27)

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Cites work

• scientific article; zbMATH DE number 2129143 (Why is no real title available?)
• scientific article; zbMATH DE number 635665 (Why is no real title available?)
• scientific article; zbMATH DE number 2205224 (Why is no real title available?)
• A geometrical approach to the motion planning problem for a submerged rigid body
• Cascaded adaptive control of ocean vehicles with significant actuator dynamics
• Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
• Dynamics
• Motion control of drift-free, left-invariant systems on Lie groups
• Trajectory design for mechanical control systems: from geometry to algorithms

Cited in

(1)

• SOME REMARKS ON THE DYNAMICS AND GEOMETRY OF AN UNDERWATER VEHICLE

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