Abstract
Path planning is necessary in many applications using unmanned underwater vehicles (UUVs). The main class of tasks is the planning of safe routes with minimal energy costs and/or minimal levels of emitted physical and information signals. Since the action planner is on board the UUV, the main focus is on methods and algorithms that allow it to build reference trajectories while minimizing the number of calculations. The study is devoted to the problem of the optimal route planning for a UUV with a non-uniform radiation pattern. The problem is stated in the form of two point variational problem for which necessary and sufficient optimality conditions are proved. Particular attention is paid to cases where optimality conditions are not met. These cases are directly related to found specific forms of a radiation pattern. Sufficient optimality conditions are extended on the class of two-link and multi-link motion paths. Software tools have been developed and computer simulations have been performed for various types of radiation patterns.
Highlights
Various military and civil engineering applications that deal with the search of the optimal trajectories for space, air, naval and ground vehicles cover control tasks with various target functions, resource and control constraints
Despite the large variety of controlled mobile vehicles, the control tasks associated with them have common traits
The unmanned underwater vehicles (UUVs)’s goal is an evasion from the detection by an observer located in a given area. This approach corresponds to the process of mobile vehicle detection based on an estimation of primary emitted physical signals [6]
Summary
Various military and civil engineering applications that deal with the search of the optimal trajectories for space, air, naval and ground vehicles cover control tasks with various target functions, resource and control constraints. The estimation of the signal integral level at the sensor input is fulfilled to solve the TP-problem with optimizing the control law for a mobile vehicle that moves from a fixed starting point to a fixed end point of the route during a given period of time. The UUV’s goal is an evasion from the detection by an observer (group of observers) located in a given area This approach corresponds to the process of mobile vehicle detection based on an estimation of primary emitted physical signals [6]. Minimizing the integral risk for a given trajectory length; minimizing the length of the UUV motion path for a given value of the integral risk These problems are formulated as two-point problems of variations calculus or as optimal control problems on the plane in the presence of coordinate, phase, and integral constraints, and can be solved by one of the standard numerical methods that will set the trajectory of the UUV as the projection on the horizontal plane from 3D-space.
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