Chapter 1 Introduction
1.1 Motivation
1.2 Related Work
1.3 NTG and DMOC
1.4 Book Contributions
1.5 Book Outline
Chapter 2 Glider Trajectory Generation with NTG
2.1 Problem Definition
2.2 Glider Trajectory Generation
2.3 Ocean Current Model
2.3.1 2D B-spline Ocean Flows Model
2.3.2 3D B-spline Ocean Flows Model
2.4 Nonlinear Trajectory Generation
2.4.1 Cost Function
2.4.2 Constraints
2.5 Optimal Control of a Kinematical Glider
2.5.1 NTG Solution for 3D B-spline Ocean Flows Model
2.5.2 Comparison in the 2D and 3D B-spline Ocean Current Models
2.6 Optimal Control of a Dynamical Glider
2.6.1 Cost Function
2.6.2 Constraints
2.6.3 NTG Solutions for the Dynamic Glider
2.7 Animation of Glider and Ocean Current
2.8 Summary
Chapter 3 Aerobot Trajectory Generation with NTG
3.1 NASA JPL Aerobot
3.2 Euler-Lagrange Based Aerobot Trajectories
3.2.1 Euler-Lagrange Equations
3.2.2 Wind Profile
3.2.3 Problem Formulation
3.2.4 Simulated 3D Trajectory
3.3 State Space Model Based Trajectories
3.3.1 Problem Formulation
3.3.2 Simulated 3D Trajectories
3.4 Summary
Chapter 4 Trajectory Generation with DMOC
4.1 DMOC Methodology
4.2 DMOC Tutorial
4.2.1 IPOPT
4.2.2 AMPL
4.2.3 Implementation Details
4.2.4 An Application Example
4.3 Summary
Chapter 5 Comparison of DMOC and NTG
5.1 Discrete Mechanics and Optimal Control
5.1.1 Discrete Cost Function
5.1.2 Discrete Lagrange d’Alembert Principle
5.2 Nonlinear Trajectory Generation
5.2.1 Problem Formulation
5.2.2 Procedure in NTG
5.3 DMOC versus NTG
5.3.1 A Glider in the Simple Current Model
5.4 A Glider in the B-spline Ocean Model
5.5 Hovercraft Example
5.6 Summary
Chapter 6 Testbed Establishment
6.1 Testbed
6.2 Vicon Vision System
6.3 Real-Time Application
6.4 Summary
Chapter 7 Multiple Phase DMOC
7.1 Introduction
7.2 Problem Definition
7.3 Mutli-Phase DMOC
7.3.1 Formulation
7.3.2 Multi-Phase Strategy
7.4 Quadrotor Application Example
7.4.1 Quadrotor Model
7.5 Numerical Results
7.5.1 Trajectory Generation
7.6 Summary
Chapter 8 Conclusion and Future Work
8.1 Conclusion
8.2 Future Work
References
Appendix A NTG program for a glider in a B-spline ocean model
Appendix B NTG program for a JPL Aerobot
Appendix C DMOC program for a glider in a B-spline ocean model
Appendix D DMOC program for a JPL Aerobot
Appendix E MATLAB program for generating ODE45 trajectories
Appendix F Program to obtain realtime coordiates of a draganflyer