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
- New search for: KIM KANGSOO
- New search for: KIM KANGSOO
The present invention enables navigation control of an underwater vehicle by setting an optimum underwater navigation route with respect to a reference. The route setting method is provided with: an underwater waypoint input step S12 for inputting underwater waypoints of the underwater vehicle; a target value setting step S 14 for setting initial target values at the underwater waypoints; an underwater navigation simulation step S22 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 S28 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 S22. Optimum target values are derived by repeating the underwater navigation simulation step S22 and the target value update step S28.
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ROUTE SETTING METHOD FOR UNDERWATER VEHICLE, UNDERWATER VEHICLE OPTIMUM CONTROL METHOD USING SAME, AND UNDERWATER VEHICLE
ROUTENEINSTELLVERFAHREN FÜR UNTERWASSERFAHRZEUG, OPTIMALES STEUERUNGSVERFAHREN FÜR UNTERWASSERFAHRZEUG UND UNTERWASSERFAHRZEUG
PROCÉDÉ DE DÉFINITION D'ITINÉRAIRE POUR VÉHICULE SOUS-MARIN, PROCÉDÉ DE COMMANDE OPTIMALE DE VÉHICULE SOUS-MARIN UTILISANT CELUI-CI, ET VÉHICULE SOUS-MARIN
2022-09-21
Patent
Electronic Resource
English
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