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Autonomous homing and docking tasks for an underwater vehicle

Record type: Conference or Workshop Item (Paper)

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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Citation

Wilson, P. A. (2009) Autonomous homing and docking tasks for an underwater vehicle At McMc'09. 16 - 19 Sep 2009. 6 pp.

More information

Published date: 16 September 2009
Additional Information: Plenary lecture
Venue - Dates: McMc'09, 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
ORCID for P. A. Wilson: ORCID iD orcid.org/0000-0002-6939-682X

Catalogue record

Date deposited: 29 Oct 2009
Last modified: 19 Jul 2017 00:12

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