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Communication Dans Un Congrès Année : 1998

Optimal control of a deep-towed vehicle by optimization techniques

Résumé

We consider the problem of controlling a subsea vehicle used to investigate the ocean floor and focus on deep-ocean systems deployed through a cable several thousand meters long. The objective is to evolve optimized orders to be sent to the bridge or directly to the ship dynamic positioning system in order to minimize the duration of non productive maneuvers. Various constraints acting on the vehicle can be expressed such as minimum altitude, maximum velocity, etc. An optimization algorithm has been developed, which may take such inequality constraints acting on the system state variables into account.
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Dates et versions

hal-04142351 , version 1 (26-06-2023)

Licence

Paternité - Pas d'utilisation commerciale - Pas de modification

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Laurent Chauvier, Gilbert Damy, Jean Charles Gilbert, Nicolas Pichon. Optimal control of a deep-towed vehicle by optimization techniques. Oceans'98, Sep 1998, Nice, France. pp.1634-1639, ⟨10.1109/OCEANS.1998.726365⟩. ⟨hal-04142351⟩

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