Underwater vehicle technology: the European project (FREESUB)
Underwater vehicle technology: the European project (FREESUB)
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
Wilson, P. A.
8307fa11-5d5e-47f6-9961-9d43767afa00
1 November 2010
Wilson, P. A.
8307fa11-5d5e-47f6-9961-9d43767afa00
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, Malaysia.
01 - 02 Nov 2010.
16 pp
.
Record type:
Conference or Workshop Item
(Other)
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
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Published date: 1 November 2010
Venue - Dates:
The 3rd International Conference on Underwater System Technology: Theory and Applications 2010 (USYS'10), Malaysia, Malaysia, 2010-11-01 - 2010-11-02
Organisations:
Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 166833
URI: http://eprints.soton.ac.uk/id/eprint/166833
PURE UUID: b44b26a3-2e66-4458-a59f-32e34e1df681
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Date deposited: 10 Nov 2010 10:24
Last modified: 14 Mar 2024 02:33
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