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

DOI10.1007/s10440-011-9616-8zbMath1228.93035OpenAlexW2119799429MaRDI 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 theoryautonomous underwater vehicletrajectory designbulbous bow survey

Mathematics Subject Classification ID

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

Cites Work

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• 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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