Line-of-sight curved path following for underactuated USVs and AUVs in the horizontal plane under the influence of ocean currents

An essential ability of autonomous unmanned surface vessels (USVs) and autonomous underwater vehicles (AUVs) moving in a horizontal plane is to follow a general two-dimensional path in the presence of unknown ocean currents. This paper presents a method to achieve this. The proposed guidance and con...

Full description

Saved in:
Bibliographic Details
Published in2016 24th Mediterranean Conference on Control and Automation (MED) pp. 38 - 45
Main Authors Moe, Signe, Pettersen, Kristin Y., Fossen, Thor I., Gravdahl, Jan T.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2016
Subjects
Control systems
Current measurement
Sea measurements
Sea surface
Surges
Velocity measurement
Online AccessGet full text
DOI10.1109/MED.2016.7536018

Cover

More Information
Summary:An essential ability of autonomous unmanned surface vessels (USVs) and autonomous underwater vehicles (AUVs) moving in a horizontal plane is to follow a general two-dimensional path in the presence of unknown ocean currents. This paper presents a method to achieve this. The proposed guidance and control system only requires absolute velocity measurements for feedback, thereby foregoing the need for expensive sensors to measure relative velocities. The closed-loop system consists of a guidance law and an adaptive feedback linearizing controller combined with sliding mode, and is shown to render the path cross-track error dynamics UGAS and USGES. Simulation results are presented to verify the theoretical results.
DOI:10.1109/MED.2016.7536018