@INPROCEEDINGS{8729777,
  author={M. {Aguiar} and J. B. d. {Sousa} and J. M. {Dias} and J. E. d. {Silva} and R. {Mendes} and A. S. {Ribeiro}},
  booktitle={2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV)}, 
  title={Trajectory Optimization for Underwater Vehicles in Time-Varying Ocean Flows}, 
  year={2018},
  volume={},
  number={},
  pages={1-6},
  abstract={We consider the problem of generating optimal planar trajectories for marine vehicles taking into account the effect of time-varying ocean currents. This is motivated by the need for economic trajectory generation in long-duration operations, and it becomes even more important in scenarios where the magnitude of the ocean current speed is comparable to the maximum vehicle speed, as illustrated in our experiments. We propose a solution based on a simple motion model, dynamic programming and high-resolution ocean models. Optimal trajectories are generated under the assumption that the vehicle is capable of reaching the destination even when the matching condition is violated in some segments of the path. Numerical results show that the method is appropriate for practical generation of feasible trajectories in spatially constrained areas with strong currents.},
  keywords={autonomous underwater vehicles;dynamic programming;optimal control;optimisation;path planning;position control;dynamic programming;high-resolution ocean models;optimal trajectories;trajectory optimization;underwater vehicles;time-varying ocean flows;optimal planar trajectories;marine vehicles;time-varying ocean currents;economic trajectory generation;long-duration operations;ocean current speed;maximum vehicle speed;motion model;Trajectory;Mathematical model;Numerical models;Oceans;Marine vehicles;Optimal control;Spatial resolution},
  doi={10.1109/AUV.2018.8729777},
  ISSN={2377-6536},
  month={Nov},}