Trajectory design of an underwater glider considering depth constraints수심 제한을 고려한 수중 글라이더 경로 설계

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Underwater gliders have attracted much attention over the last decade because of their low cost and long mission range. However, they operate at low speeds by diving and climbing at a constant gliding angle, so they are strongly affected by ocean currents and the water depth. Thus, the design of efficient trajectories for an underwater glider is of great importance. This dissertation presents the formulation of the trajectory optimization for an underwater glider considering depth constraints to minimize the traversal time in the horizontal direction. The formulation leads to a nonlinear two-point boundary value problem with inequality constraints. The problem is solved numerically with the pseudospectral method. The validity and feasibility of the proposed approach were demonstrated through numerical simulations that compared the traversal time and energy consumption of different trajectories, and criteria for efficient operation settings with respect to the distance to the goal and water depth limit were investigated.
Advisors
Kim, Jin-Whanresearcher김진환
Description
한국과학기술원 : 해양시스템공학전공,
Publisher
한국과학기술원
Issue Date
2014
Identifier
592508/325007  / 020124474
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 해양시스템공학전공, 2014.8, [ v, 35 p. ]

Keywords

underwater glider; pseudospectral 방법; 이점 경계치 문제; 경로 최적화; 수중 글라이더; pseudospectral method; trajectory optimization; two-point boundary value problem

URI
http://hdl.handle.net/10203/198007
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=592508&flag=dissertation
Appears in Collection
OSE-Theses_Master(석사논문)
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