Omnidirectional Motion Trajectory Tracking Control Method for AUVs

The precise trajectory tracking capability of autonomous undersea vehicles(AUVs) is crucial for completing underwater tasks such as exploration, obstacle avoidance, and pipeline inspection. However, AUVs are typically underactuated systems that satisfy non-holonomic dynamic constraints, and they can...

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Bibliographic Details
Published in水下无人系统学报 Vol. 32; no. 6; pp. 1018 - 1028
Main Authors Jiangpeng XU, Junlei WANG, Yi TANG
Format Journal Article
LanguageChinese
Published Science Press (China) 01.12.2024
Subjects
autonomous undersea vehicle
hybrid control
omnidirectional motion
remotely operated vehicle
trajectory tracking
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Summary:The precise trajectory tracking capability of autonomous undersea vehicles(AUVs) is crucial for completing underwater tasks such as exploration, obstacle avoidance, and pipeline inspection. However, AUVs are typically underactuated systems that satisfy non-holonomic dynamic constraints, and they cannot track some specific trajectories or perform some specific underwater maneuvers, such as station-keeping U-turns and point-circling observations. Most researchers focus on improving the trajectory tracking capability of AUVs based on underactuated system theory. This paper, however, proposed a new omnidirectional motion trajectory tracking control method for AUVs from the perspective of structural improvement, drawing on the configuration design of remotely operated vehicles(ROVs). The method retained the original low-drag streamlined torpedo-like structural design and motion mode of AUVs while endowing them with a new omnidirectional motion mode. Using the Bluefin series AUV as an example, the paper designed an
ISSN:2096-3920
DOI:10.11993/j.issn.2096-3920.2024-0084