The optimal control of a flexible hull robotic undersea vehicle propelled by an oscillating foil

摘要

Determining the optimal swimming motion for a flexible hull robotic undersea vehicle propelled by an oscillating foil is an acutely complex problem involving the vehicle's body kinematics and the hydrodynamics of the surrounding water. The overall intractability of the hydrodynamics of a flexible body precludes a purely analytical solution. The immense size of the experimental variable space prevents a purely empirical one. In order to overcome both difficulties, we have developed a self-optimizing motion controller based on a genetic algorithm. This controller effectively uses evolutionary principles to exponentially optimize swimming performance.