Nonholonomic Motion Planning for Underwater Vehicles

J-P. Tennant

EECS Department
University of California, Berkeley
Technical Report No. UCB/ERL M93/89
December 1993

http://www2.eecs.berkeley.edu/Pubs/TechRpts/1993/ERL-93-89.pdf

Fuel efficient designs for submersibles typically result in vehicles that exhibit nonholonic behavior. The purpose of this project is to develop an algorithm that generates feasible trajectories for such vehicles. A general model for underwater vehicles is first derived using kinematic equations of motion. The resulting system is nonholonic with drift. Vehicle performance is characterized by placing limits on the acceptable inputs. An algorithm is then presented that takes as input a sequence of "waypoints" through which the vehicle should pass. In addition to the location of each point, the user may specify time of arrival, heading, pitch angle, and/or velocity. The resulting path satisfies the nonholonic and performance constraints for the vehicle and is near optimal in the sense of minimizing the pathlength.

BibTeX citation:

@techreport{Tennant:M93/89,
    Author = {Tennant, J-P.},
    Title = {Nonholonomic Motion Planning for Underwater Vehicles},
    Institution = {EECS Department, University of California, Berkeley},
    Year = {1993},
    Month = {Dec},
    URL = {http://www2.eecs.berkeley.edu/Pubs/TechRpts/1993/2467.html},
    Number = {UCB/ERL M93/89},
    Abstract = {Fuel efficient designs for submersibles typically result in vehicles that exhibit nonholonic behavior. The purpose of this project is to develop an algorithm that generates feasible trajectories for such vehicles. A general model for underwater vehicles is first derived using kinematic equations of motion. The resulting system is nonholonic with drift. Vehicle performance is characterized by placing limits on the acceptable inputs. An algorithm is then presented that takes as input a sequence of "waypoints" through which the vehicle should pass. In addition to the location of each point, the user may specify time of arrival, heading, pitch angle, and/or velocity. The resulting path satisfies the nonholonic and performance constraints for the vehicle and is near optimal in the sense of minimizing the pathlength.}
}

EndNote citation:

%0 Report
%A Tennant, J-P.
%T Nonholonomic Motion Planning for Underwater Vehicles
%I EECS Department, University of California, Berkeley
%D 1993
%@ UCB/ERL M93/89
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/1993/2467.html
%F Tennant:M93/89