Geometric Path Planning for a Lego AUV
Date
2012
Authors
Contributor
Advisor
Department
Instructor
Depositor
Speaker
Researcher
Consultant
Interviewer
Narrator
Transcriber
Annotator
Journal Title
Journal ISSN
Volume Title
Publisher
University of Hawaii at Manoa
Volume
Number/Issue
Starting Page
Ending Page
Alternative Title
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.
Description
Keywords
Citation
Extent
29 pages
Format
Geographic Location
Time Period
Related To
Related To (URI)
Table of Contents
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
Attribution-NonCommercial-NoDerivs 3.0 United States
Rights Holder
Local Contexts
Collections
Email libraryada-l@lists.hawaii.edu if you need this content in ADA-compliant format.