Underwater vehicle technology: the European project (FREESUB)


Wilson, P. A. (2010) Underwater vehicle technology: the European project (FREESUB). The 3rd International Conference on Underwater System Technology: Theory and Applications 2010 (USYS'10) , Malaysia, MY, 01 - 02 Nov 2010. 16pp.

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Description/Abstract

This paper outlines the working of the Marie Curie research network funded by the European Network and as an example of the outcome of the research briefly introduces a strategy for autonomous homing and docking tasks using an autonomous underwater vehicle. The control and guidance based path following for those tasks are described in this work. A standard sliding mode for controller design is briefly given. The method provides robust motion control efforts for an underwater vehicle’s decoupled system whilst minimising chattering effects. In a guidance system, the vector field based on a conventional artificial potential field method gives a desired trajectory with a use of existing information from sensors in the network. A well structured Line-of-Sight method is used for an AUV to follow the path. It provides guidance for an AUV to follow the predefined trajectory to a required position with the final desired orientation at the dock. Integration of a control and guidance system provides a complete system for this application. Simulation studies are illustrated in the paper

Item Type: Conference or Workshop Item (Keynote)
Related URLs:
Subjects: V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
Divisions: University Structure - Pre August 2011 > School of Engineering Sciences > Fluid-Structure Interactions
ePrint ID: 166833
Date Deposited: 10 Nov 2010 10:24
Last Modified: 27 Mar 2014 19:18
URI: http://eprints.soton.ac.uk/id/eprint/166833

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