Control and guidance for homing and docking tasks using an autonomous underwater vehicle

Jantapremjit, Pakpong and Wilson, P.A. (2007) Control and guidance for homing and docking tasks using an autonomous underwater vehicle. In IEEE International Conference on Intelligent Robots and Systems. pp. 3672-3677 . (doi:10.1109/IROS.2007.4398953).

Record type: Conference or Workshop Item (Paper)

Abstract

This paper presents the results of a control and
guidance strategy for homing and docking tasks using an
autonomous underwater vehicle. An optimal high-order sliding
mode control via state-dependent Riccati equation approach is
introduced providing a robustness of motion control including
elimination of chattering effect for decoupled systems of an
AUV. Motion planning for a docking is introduced. The average
vector field based on an artificial potential field method gives
a desired trajectory using existing information from ocean
network sensors. It provides a guidance for an AUV to follow
the path to a required position with final desired orientation.
A Line-of-Sight method is used for an AUV to follow the
predefined path. In order to improve a docking manoeuver, a
switched weight technique is proposed for controlling a vehicle’s
path and final stage docking.