Underwater vehicles: a surprising non time-optimal path

被引：0
|
作者：
Chyba, M [1 ]
机构：
[1] Univ Hawaii, Dept Math, Honolulu, HI 96822 USA
来源：
42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS | 2003年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper deals with the time-optimal problem for a class of underwater vehicles. We prove that if two configurations at rest can be joined by a horizontal or a vertical translation in the body frame coordinates, then there exists a shorter path. Our computations am based on the maximum principle and use that translations in the body frame coordinates are time-equivalent to paths formed by concatenations of 2-singular extremals that are proved to be non time-optimal.
引用
收藏
页码：2750 / 2755
页数：6
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