Wilson, P. A.
Autonomous homing and docking tasks for an underwater vehicle
16 - 19 Sep 2009.
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.
Conference or Workshop Item
|Venue - Dates:
||McMc'09, 2009-09-16 - 2009-09-19
||underwater, control, autonomous, autonomous homing and docking, auv, sliding mode control, vector field, line-of-sight
||Fluid Structure Interactions Group
|16 September 2009||Published|
||29 Oct 2009
||18 Apr 2017 21:13
|Further Information:||Google Scholar|
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