Optimal thrusters steering for dynamically reconfigurable underwater vehicles

Maxence Blond 1 Daniel Simon 2 Vincent Creuze 3 Olivier Tempier 4
2 CAMIN - Control of Artificial Movement and Intuitive Neuroprosthesis
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
3 ICAR - Image & Interaction
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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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Submitted on : Wednesday, August 21, 2019 - 2:10:02 PM
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Maxence Blond, Daniel Simon, Vincent Creuze, Olivier Tempier. Optimal thrusters steering for dynamically reconfigurable underwater vehicles. International Journal of Systems Science, Taylor & Francis, In press, pp.1-14. ⟨10.1080/00207721.2019.1655603⟩. ⟨lirmm-02268706⟩

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