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Autonomous homing and docking tasks for an underwater vehicle

Autonomous homing and docking tasks for an underwater vehicle
Autonomous homing and docking tasks for an underwater vehicle
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.
underwater, control, autonomous, autonomous homing and docking, auv, sliding mode control, vector field, line-of-sight
Wilson, P. A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Wilson, P. A.
8307fa11-5d5e-47f6-9961-9d43767afa00

Wilson, P. A. (2009) Autonomous homing and docking tasks for an underwater vehicle. McMc'09, Sao Paolo, Brazil. 16 - 19 Sep 2009. 6 pp .

Record type: Conference or Workshop Item (Paper)

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.

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More information

Published date: 16 September 2009
Additional Information: Plenary lecture
Venue - Dates: McMc'09, Sao Paolo, Brazil, 2009-09-16 - 2009-09-19
Keywords: underwater, control, autonomous, autonomous homing and docking, auv, sliding mode control, vector field, line-of-sight
Organisations: Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 69307
URI: http://eprints.soton.ac.uk/id/eprint/69307
PURE UUID: c4069672-f722-4888-a68f-8b2ad683fe2c
ORCID for P. A. Wilson: ORCID iD orcid.org/0000-0002-6939-682X

Catalogue record

Date deposited: 29 Oct 2009
Last modified: 14 Mar 2024 02:33

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