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.
autonomous, homing, docking
Jantapremjit, P.
4b5b6a1a-c24c-46ca-bb50-2cbdd8cfc479
Wilson, P.A.
8307fa11-5d5e-47f6-9961-9d43767afa00
5 October 2008
Jantapremjit, P.
4b5b6a1a-c24c-46ca-bb50-2cbdd8cfc479
Wilson, P.A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Jantapremjit, P. and Wilson, P.A.
(2008)
Autonomous homing and docking tasks for an underwater vehicle.
2nd International Conference on Underwater Systems, Bali, Indonesia.
04 - 05 Nov 2008.
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.
Text
USYS08_submission.pdf
- Author's Original
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Submitted date: 7 May 2008
Published date: 5 October 2008
Venue - Dates:
2nd International Conference on Underwater Systems, Bali, Indonesia, 2008-11-04 - 2008-11-05
Keywords:
autonomous, homing, docking
Organisations:
Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 51193
URI: http://eprints.soton.ac.uk/id/eprint/51193
PURE UUID: 89c440e8-f79b-4ed0-9b8d-067880224a16
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Date deposited: 09 May 2008
Last modified: 16 Mar 2024 02:35
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Contributors
Author:
P. Jantapremjit
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