Autonomous homing and docking tasks for an underwater vehicle

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


[img] PDF MCMC09new.pdf - Accepted Manuscript
Download (559kB)


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.

Item Type: Conference or Workshop Item (Paper)
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
ePrint ID: 69307
Date :
Date Event
16 September 2009Published
Date Deposited: 29 Oct 2009
Last Modified: 18 Apr 2017 21:13
Further Information:Google Scholar

Actions (login required)

View Item View Item