지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
이용수
초록· 키워드
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In this study, the problem of trajectory optimization for underwater gliders considering depth constraints is discussed. Typically, underwater gliders are controlled to dive and climb in a saw-tooth pattern at constant gliding angles. This approach is effective and close to optimal for deep water applications. However, the optimal path deviates from the saw-tooth path in shallow water conditions. This study focuses on finding more efficient gliding paths that can minimize the traverse time in the horizontal plane when the water depth is limited. The trajectory optimization problem is formulated into a minimum time control problem with inequality path constraints and hydrodynamic drag effects. A numerical approach based on the pseudo-spectral method is adopted as a solution approach, and the simulation results are presented.
목차
ABSTRACT
1. 서론
2. 중력장에서의 최소시간 이동경로
3. 수중 글라이더 경로 최적화
4. 결과 및 토의
5. 결론
References
참고문헌 (10)
참고문헌 신청
1. [단행본] - Bryson, A.E / 1975 / Applied Optimal Control: Optimization, Estimation and Control / Hemisphere Publishing Corporation
2. [학술지(정기간행물)] - Ericksen, C. C / 2001 / Seaglider: A Long-Range Autonomous Underwater Vehicle for Oceanographic Research / Journal of Oceanic Engineering 26 (4) : 424 ~ 436
3. [학술지(정기간행물)] - Garau, B / 2009 / Path Planning for Autonomous Underwater Vehicles in Realistic Oceanic Current Fields: Application To Glider In The Western Mediterranean Sea / Journal of Maritime Resarch 4 (2) : 5 ~ 22
4. [학술대회논문] - Graver, J. G / 2001 / Underwater Glider Dynamics and Control / Proceedings of 12th International Symposium on Unmanned Untethered Submersible Technology(UUST) : 1710 ~ 1742
5. [학술대회논문] - Isern-Gonzalez, J / 2011 / Path Planning for Underwater Gliders Using Iterative Optimization / Proceedings of Robotics and Automation : 1538 ~ 1543
2. [학술지(정기간행물)] - Ericksen, C. C / 2001 / Seaglider: A Long-Range Autonomous Underwater Vehicle for Oceanographic Research / Journal of Oceanic Engineering 26 (4) : 424 ~ 436
3. [학술지(정기간행물)] - Garau, B / 2009 / Path Planning for Autonomous Underwater Vehicles in Realistic Oceanic Current Fields: Application To Glider In The Western Mediterranean Sea / Journal of Maritime Resarch 4 (2) : 5 ~ 22
4. [학술대회논문] - Graver, J. G / 2001 / Underwater Glider Dynamics and Control / Proceedings of 12th International Symposium on Unmanned Untethered Submersible Technology(UUST) : 1710 ~ 1742
5. [학술대회논문] - Isern-Gonzalez, J / 2011 / Path Planning for Underwater Gliders Using Iterative Optimization / Proceedings of Robotics and Automation : 1538 ~ 1543
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UCI(KEPA) : I410-ECN-0101-2016-559-001022456