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Conference Papers Year : 2014

Optimal Trajectories for Underwater Vehicles by Quantization and Stochastic control

Abstract

We present in this paper a numerical method which computes the trajectory of a vehicle subject to some mission objectives. The method is applied to a submarine whose goal is to best detect one or several targets (we consider signal attenuation due to acoustic propagation) or/and to minimize its own detection range perceived by the other targets. Our approach is based on dynamic programming of a finite horizon Markov decision process. The position and the velocity of the targets are supposed to be known only up to a random estimation error, as a Kalman type filter is used to estimate these quantities from the measurements given by the on board sonar. A quantization method is applied to fully discretize the problem and solve it numerically.
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Dates and versions

hal-00990765 , version 1 (14-05-2014)

Identifiers

  • HAL Id : hal-00990765 , version 1

Cite

Huilong Zhang, Benoîte de Saporta, François Dufour, Dann Laneuville, Adrien Nègre. Optimal Trajectories for Underwater Vehicles by Quantization and Stochastic control. Fusion 2014, Jul 2014, Salamanca, Spain. pp.8. ⟨hal-00990765⟩
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