Autonomous homing and docking tasks for an underwater vehicle
Jantapremjit, P. and Wilson, P.A. (2008) Autonomous homing and docking tasks for an underwater vehicle. In, 2nd International Conference on Underwater Systems, Bali, Indonesia, 04 - 05 Nov 2008. Bali, Indonesia, Underwater Society of Indonesia6pp.
This paper 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 (Paper)|
|Keywords:||autonomous, homing, docking|
|Subjects:||V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering|
|Divisions:||University Structure - Pre August 2011 > School of Engineering Sciences > Fluid-Structure Interactions
|Date Deposited:||09 May 2008|
|Last Modified:||08 Jun 2012 12:21|
|Contributors:||Jantapremjit, P. (Author)
Wilson, P.A. (Author)
|Date:||5 October 2008|
|Publisher:||Underwater Society of Indonesia|
|RDF:||RDF+N-Triples, RDF+N3, RDF+XML, Browse.|
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