Optimal thrusters steering for dynamically reconfigurable underwater vehicles - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles International Journal of Systems Science Year : 2019

Optimal thrusters steering for dynamically reconfigurable underwater vehicles

Abstract

When using a Remotely Operated Vehicle (ROV), on-the-fly reconfiguration of the thrusters orientations allows to adjust its propulsion and maneuverability capabilities according to the mission progress. To optimize the actuation, the interaction between thrusters due to cross flows is modeled and included in the thrust related objective function to be maximized. Run-time effective solutions use a sparse look-up table to initialize a fast direct-search local optimization algorithm. The found thrusters steering configurations show higher thrust gains compared with the traditional fixed 'vectored' configuration of currently available ROVs.
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Dates and versions

lirmm-02268706 , version 1 (21-08-2019)

Identifiers

Cite

Maxence Blond, Daniel Simon, Vincent Creuze, Olivier Tempier. Optimal thrusters steering for dynamically reconfigurable underwater vehicles. International Journal of Systems Science, 2019, pp.2348-2361. ⟨10.1080/00207721.2019.1655603⟩. ⟨lirmm-02268706⟩
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