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.

Download

[img] PDF - Post print
Download (546Kb)

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
URI: http://eprints.soton.ac.uk/id/eprint/69307

Actions (login required)

View Item View Item

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics