Optimal Guidance of a Self-propelled Particle in a Non-uniform Flow

The work presented gives an energy-optimal solution to the guidance problem of an AUV. The presented methods are for lower level control of AUV paths, facilitating existing global planning methods to be carried out comparatively more efficiently. The underlying concept is to use the energy of flow fields the AUVs are navigating to minimize control effort. The problem is formulated for a generalized two dimensional linearly varying flow field given a fixed final time and free end states. This allows the AUVs to navigate to certain spatial positions while maintaining the required temporal resolution of each segment of their mission. The simplistic way in which the problem is posed allows an analytical closed form solution of the Euler-Lagrange equations. The control inputs are then incorporated into a feedback structure, allowing the guidance of AUVs in the presence of disturbance or non-uniformity in the flow field.