Optimal Trajectories for Underwater Vehicles by Quantization and Stochastic control

Autor:	Zhang, Huilong, Saporta, Benoite, Francois Dufour, Laneuville, Dann, Negre, Adrien
Přispěvatelé:	Institut de Mathématiques de Bordeaux (IMB), Université Bordeaux Segalen - Bordeaux 2-Université Sciences et Technologies - Bordeaux 1-Université de Bordeaux (UB)-Institut Polytechnique de Bordeaux (Bordeaux INP)-Centre National de la Recherche Scientifique (CNRS), Quality control and dynamic reliability (CQFD), Université Bordeaux Segalen - Bordeaux 2-Université Sciences et Technologies - Bordeaux 1-Université de Bordeaux (UB)-Institut Polytechnique de Bordeaux (Bordeaux INP)-Centre National de la Recherche Scientifique (CNRS)-Université Bordeaux Segalen - Bordeaux 2-Université Sciences et Technologies - Bordeaux 1-Université de Bordeaux (UB)-Institut Polytechnique de Bordeaux (Bordeaux INP)-Centre National de la Recherche Scientifique (CNRS)-Inria Bordeaux - Sud-Ouest, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Groupe de Recherche en Economie Théorique et Appliquée (GREThA), Université de Bordeaux (UB)-Centre National de la Recherche Scientifique (CNRS), DCNS Group (DCNS), DCNS group, Centre National de la Recherche Scientifique (CNRS)-Université de Bordeaux (UB), Zhang, Huilong, Université Bordeaux Segalen - Bordeaux 2-Université Sciences et Technologies - Bordeaux 1 (UB)-Université de Bordeaux (UB)-Institut Polytechnique de Bordeaux (Bordeaux INP)-Centre National de la Recherche Scientifique (CNRS), Université Bordeaux Segalen - Bordeaux 2-Université Sciences et Technologies - Bordeaux 1 (UB)-Université de Bordeaux (UB)-Institut Polytechnique de Bordeaux (Bordeaux INP)-Centre National de la Recherche Scientifique (CNRS)-Université Bordeaux Segalen - Bordeaux 2-Université Sciences et Technologies - Bordeaux 1 (UB)-Université de Bordeaux (UB)-Institut Polytechnique de Bordeaux (Bordeaux INP)-Centre National de la Recherche Scientifique (CNRS)-Inria Bordeaux - Sud-Ouest
Jazyk:	angličtina
Rok vydání:	2014
Předmět:	[MATH.MATH-PR]Mathematics [math]/Probability [math.PR] [MATH.MATH-PR] Mathematics [math]/Probability [math.PR] Non linear filtering Underwater acoustic warfare Quantization Dynamic programming Markov decision processes
Zdroj:	17th International Conference on Information Fusion Fusion 2014 Fusion 2014, Jul 2014, Salamanca, Spain. pp.8 Publons
Popis:	International audience; 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.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::9b4898cc9a8ae2981646a67903f4a636 https://hal.archives-ouvertes.fr/hal-00990765 Zobrazit plný text záznamu