The University of Southampton
University of Southampton Institutional Repository

Underwater vehicle technology: the European project (FREESUB)

Wilson, P. A. (2010) Underwater vehicle technology: the European project (FREESUB) At The 3rd International Conference on Underwater System Technology: Theory and Applications 2010 (USYS'10), 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

Other usys'10.docx - Version of Record
Restricted to Repository staff only
Download (1MB)

More information

Published date: 1 November 2010
Venue - Dates: The 3rd International Conference on Underwater System Technology: Theory and Applications 2010 (USYS'10), 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
ORCID for P. A. Wilson: ORCID iD orcid.org/0000-0002-6939-682X

Catalogue record

Date deposited: 10 Nov 2010 10:24
Last modified: 18 Jul 2017 12:25

Export record

Download statistics

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

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton: eprints@soton.ac.uk

ePrints Soton supports OAI 2.0 with a base URL of http://eprints.soton.ac.uk/cgi/oai2

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.

×