Autonomous homing and docking tasks for an underwater vehicle


Wilson, P. A. (2009) Autonomous homing and docking tasks for an underwater vehicle. In, McMc'09, Sao Paolo, Brazil, 16 - 19 Sep 2009. Sao Paolo, Brazil, Institute Electical and Electronics Engineers6pp.

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Description/Abstract

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)
Additional Information: Plenary lecture
Keywords: underwater, control, autonomous, autonomous homing and docking, auv, sliding mode control, vector field, line-of-sight
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
Divisions: University Structure - Pre August 2011 > School of Engineering Sciences > Fluid-Structure Interactions
ePrint ID: 69307
Date Deposited: 29 Oct 2009
Last Modified: 27 Mar 2014 18:49
Publisher: Institute Electical and Electronics Engineers
URI: http://eprints.soton.ac.uk/id/eprint/69307

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