Feasibility analysis of using the hp-adaptive Radau pseudospectral method for minimum-effort collision-free docking operations of AUV
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Authors
Yazdani, A.M.
Sammut, K.
Yakimenko, O.A.
Lammas, A.
Subjects
Underwater docking
Optimal trajectory generation
Two-point boundary-value problem
hp-adaptive Radau method
Optimal trajectory generation
Two-point boundary-value problem
hp-adaptive Radau method
Advisors
Date of Issue
2020-08-29
Date
29 August 2020
Publisher
Elsevier
Language
Abstract
This paper continues the previous effort on the development of a trajectory generation platform that assures minimum-control expenditure and collision-free manoeuvre of a torpedo-shaped autonomous underwater vehicle (AUV) into a funnel-shaped stationary docking station (DS). The earlier-developed guidance system was based on the Inverse Dynamics in the Virtual Domain (IDVD) method accounting for AUV’s dynamics and producing a smooth trackable trajectory, thus guaranteeing safe arrival to DS. The optimality of the real-time generated solutions has been assessed via comparing them with the Legendre–Gauss–Lobatto pseudo-spectral (PS) method solutions that could only be obtained off-line. This paper explores a possibility of employing a more advanced hp-adaptive Radau (hp-AR) PS method for the same Hamiltonian two-point boundary-value problem. The considered approach explicitly encapsulates all realistic vehicular and environmental constraints such as the AUV’s dynamics, ocean current disturbances, no-fly zones, and DS pose while minimizing the vehicle’s controls expenditure and permitting precise manoeuvring into DS. The performance evaluation of the hp-AR PS based optimization routine is carried out through extensive software-in-the-loop simulations. For completeness, computational effectiveness and solution optimality of the trajectory generator engine based on the hp-AR method is compared with two other well-known PS methods based on Legendre and Chebyshev polynomial approximation. The results of this study show the superb performance of the hp-AR method-based trajectory generator among all other PS methods and a possibility of using it along with IDVD in the real-time implementation.
Type
Article
Description
17 USC 105 interim-entered record; under review.
The article of record as published may be found at http://dx.doi.org/10.1016/j.robot.2020.103641
The article of record as published may be found at http://dx.doi.org/10.1016/j.robot.2020.103641
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funding
Format
17 p.
Citation
Yazdani, Amir Mehdi, et al. "Feasibility analysis of using the hp-adaptive Radau pseudospectral method for minimum-effort collision-free docking operations of AUV." Robotics and Autonomous Systems 133 (2020): 103641.
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.