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ROUTE SETTING METHOD FOR UNDERWATER VEHICLE, UNDERWATER VEHICLE OPTIMUM CONTROL METHOD USING SAME, AND UNDERWATER VEHICLE
ROUTE SETTING METHOD FOR UNDERWATER VEHICLE, UNDERWATER VEHICLE OPTIMUM CONTROL METHOD USING SAME, AND UNDERWATER VEHICLE
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机译:水下车辆的路线设定方法,使用相同方法的水下车辆最佳控制方法以及水下车辆
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摘要
The route setting method is provided with: an underwater waypoint input step for inputting underwater waypoints of the underwater vehicle; a target value setting step for setting initial target values at the underwater waypoints; an underwater navigation simulation step for simulating an underwater navigation route of the underwater vehicle by using water bottom topography data and the target values on the basis of a dynamics model of the underwater vehicle; and a target value update step for updating the target values on the basis of an objective function which is calculated on the basis of the underwater navigation route obtained through the simulation in the underwater navigation simulation step. Optimum target values are derived by repeating the underwater navigation simulation step and the target value update step.
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