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A geometrical approach to the motion planning problem for a submerged rigid body

By Ryan Smith, Monique Chyba, George Wilkens and Christopher Catone


The main focus of this paper is the motion planning problem for a deeply submerged rigid body. The equations of motion are formulated and presented by use of the framework of differential geometry and these equations incorporate external dissipative and restoring forces. We consider a kinematic reduction of the affine connection control system for the rigid body submerged in an ideal fluid, and present an extension of this reduction to the forced affine connection control system for the rigid body submerged in a viscous fluid. The motion planning strategy is based on kinematic motions; the integral curves of rank one kinematic reductions. This method is of particular interest to autonomous underwater vehicles which can not directly control all six degrees of freedom (such as torpedo shaped AUVs) or in case of actuator failure (i.e., under-actuated scenario). A practical example is included to illustrate our technique

Topics: geometric control, kinematic motions, motion planning, submerged rigid body
Publisher: 'Informa UK Limited'
Year: 2009
DOI identifier: 10.1080/00207170802654410
OAI identifier:

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