3D Line Following for Unmanned Underwater Vehicles

Scientific paper - Original scientific paper

• Title (croatian): Praćenje 3D pravca za bespilotne ronilice
• Author: Nikola Mišković; MBZ: 267745
• Author: Đula Nađ; MBZ: 368990
• Author: Zoran Vukić; MBZ: 74412
• Author's institution: University of Zagreb; Faculty of Electrical Engineering and Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Automation and Robotics

Abstract (english)

When designing guidance controllers for unmanned underwater vehicles, an assumption is often made that the vessel operates at a constant depth. However, in many applications the desired depth often changes with the position of the vessel in the horizontal plane. This paper addresses the problem of three dimensional line following with application to underactuated underwater vehicles. The problem is resolved by separating the desired line into two components. The main contribution of this paper is the design of 3D line following controllers for underactuated underwater vehicles. The control design is based on constant controlled surge speed and a simplified decoupled model of an underwater vehicle. Detailed design procedure is presented. The simulation results are obtained from a complex, coupled model, which proves that the proposed algorithm can be used on real vehicles.

• Keywords (english): control; line following; marine vehicles; unmanned underwater vehicles
• Language: english
• Publication type: Scientific paper - Original scientific paper
• Publication status: Published
• Peer review: Peer review - international
• Publication version: Published version
• Journal title: Brodogradnja : časopis brodogradnje i brodograđevne industrije
• Numbering: vol. 61, no. 2, pp. 121-129
• p-ISSN: 0007-215X
• URN:NBN: urn:nbn:hr:168:518059
• Publication: 2010
• Document URL: http://bib.irb.hr/456374
• Type of resource: Text
• Access conditions: Open access
• Created on: 2020-02-12 21:06:11