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Unformatted text preview: 24 AUV MISSION OPTIMIZATION 82 24 AUV Mission Optimization Tradeoffs and optimization are demonstrated by the following simple example. An au- tonomous robot carries an energy source of E = 1 . 5 kiloWatt-hours. At operating speed U , the drive motors consume P d = 40 U 3 Watts. Additionally, no matter what the speed, the ”hotel” load of the robot- the computers, sensors, communication equipment, etc.- consumes P h = 8 Watts. What speed should the robot travel so as to achieve the greatest distance, how long does this mission last, and how far does the robot go in this case? The drive power is P d = 40 U 3 , and the hotel load is P h = 8 , so the total power is P = 40 U 3 + 8 , in Watts. The duration is the available energy divided by the total power, or 1500 × 3600 T = 40 U 3 + 8 and the distance is simply D = T U . We see that D can be written then as a function of U , with a linear term in the numerator, and a cubic term plus a constant in the denominator....
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This note was uploaded on 11/29/2011 for the course CIVIL 1.00 taught by Professor Georgekocur during the Spring '05 term at MIT.
- Spring '05