A geometrical approach to the motion planning problem for a submerged rigid body
A geometrical approach to the motion planning problem for a submerged rigid body
复制标题
水下刚体运动规划问题的几何方法
DOI：
10.1080/00207170802654410
复制
发表时间：
2009
影响因子：
2.1
通讯作者：
Christopher J. Catone
中科院分区：
文献类型：
--
作者：
Ryan N. Smith;M. Chyba;G. Wilkens;Christopher J. Catone
本文主要研究深潜刚体的运动规划问题。运动方程的制定和使用微分几何的框架，这些方程包括外部耗散和恢复力。我们考虑的仿射连接控制系统的运动减少淹没在理想流体中的刚体，并提出了这种减少的强制仿射连接控制系统淹没在粘性流体中。运动规划策略是基于运动学运动;秩一运动学减少的积分曲线。该方法对于不能直接控制所有六个自由度的自主水下航行器（例如鱼雷形自主水下航行器）或在致动器故障的情况下（即欠致动场景）特别感兴趣。一个实际的例子来说明我们的技术。
The main focus of this article 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 cannot directly control all six degrees of freedom (such as torpedo-shaped autonomous underwater vehicles) or in case of actuator failure (i.e. under-actuated scenario). A practical example is included to illustrate our technique.