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Geometric Path Planning for a Lego AUV
|Title:||Geometric Path Planning for a Lego AUV|
|Publisher:||University of Hawaii at Manoa|
|Abstract:||For the last thirty years or so, differential geometry and control theory have merged and grown together to produce extraordinary results. When applied to mechanical systems, one sees a system waiting to be exploited for its inherent geometric properties. In this paper, we present the equations of motion for a submerged rigid body from a geometric point of view and use tools from differential geometry to provide solutions to the motion planning problem for an autonomous underwater vehicle. Specifically, the geometry allows us to deduce permissible motions for a vehicle that is underactuated purely from the available degrees of freedom. The geometric equations of motion are then used to path plan for a cost-effective Lego vehicle through simulations and actual implementation as providing a proof of concept.|
|Rights:||All UHM dissertations and theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission from the copyright owner.|
Attribution-NonCommercial-NoDerivs 3.0 United States
|Appears in Collections:||M.A. Plan B Theses- Mathematics Department|
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