Model-validation and implementation of a path-following algorithm in an autonomous underwater vehicle

Jose Villa, Guillem Vallicrosa, Jussi Aaltonen, Pere Ridao, Kari T. Koskinen

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Abstract

This article studies the design, modeling, and implementation of a path-following algorithm as a guidance, navigation, and control (GNC) architecture for an autonomous underwater vehicle (AUV). First, a mathematical model is developed based on nonlinear equations of motion and parameter estimation techniques, including the model validation based on field test data. Then, the guidance system incorporates a line-of-sight (LOS) algorithm with a combination of position PID controllers. The GNC architecture includes a modular and multi-layer approach with an LOS-based, path-following algorithm in the AUV platform. Furthermore, the navigation used in the path-following algorithm is developed based on a predefined coverage area. Finally, this study addresses simulation and field test control scenarios to verify the developed GNC architecture.

Original languageEnglish
Article number11891
JournalApplied Sciences (Switzerland)
Volume11
Issue number24
DOIs
Publication statusPublished - Dec 2021
Publication typeA1 Journal article-refereed

Keywords

  • AUV
  • GNC
  • MATLAB-Simulink
  • Model-validation
  • Path-following
  • ROS

Publication forum classification

  • Publication forum level 1

ASJC Scopus subject areas

  • Materials Science(all)
  • Instrumentation
  • Engineering(all)
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes

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