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Study on docking guidance algorithm for hybrid underwater glider in currents


Yang, C and Peng, S and Fan, S and Zhang, S and Wang, P and Chen, Y, Study on docking guidance algorithm for hybrid underwater glider in currents, Ocean Engineering: An International Journal of Research and DevelopmentO, 125 pp. 170-181. ISSN 0029-8018 (2016) [Refereed Article]

Copyright Statement

Copyright 2016 Elsevier Ltd.

DOI: doi:10.1016/j.oceaneng.2016.08.002


The development of a novel type of hybrid underwater glider (HUG) that combines the advantages of buoyancy-driven underwater glider and propeller-driven autonomous underwater vehicle (AUV) has recently received considerable interest. HUG is designed with a rotatable thruster to ensure the enough maneuverability of the vehicle for underwater docking. Unlike the fixed funnel-type dock, the dock proposed here can rotate actively to allow the vehicle to approach the docking station from most range of directions providing better accessibility for the vehicle. Considering that the ocean current may have a significant impact on the HUG, a pursuit guidance algorithm with current compensation is presented. The performance of the guidance algorithm is compared with other existing guidance algorithms, such as pure pursuit guidance and proportional navigation guidance by simulation based on the dynamic model of HUG. Moreover, underwater docking experiments are conducted to validate the feasibility of the docking system and the effectiveness of the proposed guidance algorithm. The experimental results indicate that the proposed algorithm compensates well for the current disturbances on HUG docking mission and the HUG can dock with the rotatable dock entrance successfully.

Item Details

Item Type:Refereed Article
Keywords:Hybrid underwater glider, Rotatable thruster, Docking Guidance algorithm, Current
Research Division:Engineering
Research Group:Control engineering, mechatronics and robotics
Research Field:Field robotics
Objective Division:Defence
Objective Group:Defence
Objective Field:National security
UTAS Author:Fan, S (Dr Shuangshuang Fan)
ID Code:125978
Year Published:2016
Web of Science® Times Cited:32
Deposited By:NC Maritime Engineering and Hydrodynamics
Deposited On:2018-05-17
Last Modified:2018-08-16

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