Horizontal path following for underactuated AUV based on dynamic circle guidance
| Autor: | Jin Shi-jiu, Huang Xinjing, Du Fei, Li Yibo |
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| Rok vydání: | 2015 |
| Předmět: |
0209 industrial biotechnology
Heading (navigation) Underactuation Computer science General Mathematics The Intersect 020208 electrical & electronic engineering 02 engineering and technology Radius Function (mathematics) Computer Science Applications 020901 industrial engineering & automation Control and Systems Engineering Control theory Convergence (routing) Path (graph theory) 0202 electrical engineering electronic engineering information engineering Point (geometry) Software |
| Zdroj: | Robotica. 35:876-891 |
| ISSN: | 1469-8668 0263-5747 |
| Popis: | SUMMARYA 2D path following control method for Autonomous Underwater Vehicles (AUVs) based on dynamic circle heading modification (DCHM) is presented. The method makes a dynamic auxiliary circle, whose radius depends on the cross-track error e, to intersect the desired path to get a new expected path point, and then determines a modified expected heading for the AUV. The guidance function is achieved by a direct mapping between e and the heading modification value Ψm. Several cases are tested in order to demonstrate the performance of the guidance and control method based on DCHMs for a real AUV. Results show that methods using a convex mapping function between e and Ψm based on our new idea can easily achieve a better convergence of path following, and reduce the error between the actual and desired heading angles. We can also customize a discretionary mapping between e and Ψm to get better path following performance. |
| Databáze: | OpenAIRE |
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