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Terminal navigation and control for docking an underactuated autonomous underwater vehicle


Li, B and Xu, Y and Liu, C and Fan, S and Xu, W, Terminal navigation and control for docking an underactuated autonomous underwater vehicle, Proceedings of the 5th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, 8-12 June 2015, Shenyang, China, pp. 25-30. ISBN 978-1-4799-8728-3 (2015) [Refereed Conference Paper]

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Copyright 2015 IEEE

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DOI: doi:10.1109/CYBER.2015.7287904


Robust and accurate vehicle guidance and control are critically important for docking an underactuated Autonomous Underwater Vehicle (AUV) to a small and simple docking structure. In this work, only one high-power LED light is used for AUV visual guidance. Without the distance information, we estimate the relative heading, and control the AUV to track the docking station axis line with constant heading. The method is then modified to cope with the environment with current. Finally, the traditional PID control is used for yaw control. Through simulation and preliminary pool experiment, the performance of the navigation and control system are verified.

Item Details

Item Type:Refereed Conference Paper
Keywords:autonomous underwater vehicle, cross-distance error, monocular guidance, cross-angle
Research Division:Engineering
Research Group:Maritime engineering
Research Field:Special vehicles
Objective Division:Defence
Objective Group:Defence
Objective Field:National security
UTAS Author:Fan, S (Dr Shuangshuang Fan)
ID Code:125991
Year Published:2015
Deposited By:NC Maritime Engineering and Hydrodynamics
Deposited On:2018-05-17
Last Modified:2018-06-19

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