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

Tutkimustuotos: ArtikkeliScientificvertaisarvioitu

38 Lataukset (Pure)

Abstrakti

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.

AlkuperäiskieliEnglanti
Artikkeli11891
JulkaisuApplied Sciences (Switzerland)
Vuosikerta11
Numero24
DOI - pysyväislinkit
TilaJulkaistu - jouluk. 2021
OKM-julkaisutyyppiA1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä

Julkaisufoorumi-taso

  • Jufo-taso 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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