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.
underwater, control, autonomous, autonomous homing and docking, auv, sliding mode control, vector field, line-of-sight
Wilson, P. A.
8307fa11-5d5e-47f6-9961-9d43767afa00
16 September 2009
Wilson, P. A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Wilson, P. A.
(2009)
Autonomous homing and docking tasks for an underwater vehicle.
McMc'09, Sao Paolo, Brazil.
16 - 19 Sep 2009.
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
MCMC09new.pdf
- Accepted Manuscript
More information
Published date: 16 September 2009
Additional Information:
Plenary lecture
Venue - Dates:
McMc'09, Sao Paolo, Brazil, 2009-09-16 - 2009-09-19
Keywords:
underwater, control, autonomous, autonomous homing and docking, auv, sliding mode control, vector field, line-of-sight
Organisations:
Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 69307
URI: http://eprints.soton.ac.uk/id/eprint/69307
PURE UUID: c4069672-f722-4888-a68f-8b2ad683fe2c
Catalogue record
Date deposited: 29 Oct 2009
Last modified: 14 Mar 2024 02:33
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