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Autonomous homing and docking tasks for an underwater vehicle

Jantapremjit, Pakpong and Wilson, P. A. (2008) Autonomous homing and docking tasks for an underwater vehicle Journal of Bionic Engineering

Record type: Article

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

Submitted date: 2008
Keywords: control, robotic, underwater
Organisations: Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 63900
URI: http://eprints.soton.ac.uk/id/eprint/63900
ISSN: 1672-6529
PURE UUID: a3a7578f-00a5-4667-98e5-3c6703053533
ORCID for P. A. Wilson: ORCID iD orcid.org/0000-0002-6939-682X

Catalogue record

Date deposited: 14 Nov 2008
Last modified: 17 Jul 2017 14:15

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Contributors

Author: Pakpong Jantapremjit
Author: P. A. Wilson ORCID iD

University divisions

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