3D Line Following for Unmanned Underwater Vehicles

Znanstveni rad - Izvorni znanstveni rad

• Naslov (hrvatski): Praćenje 3D pravca za bespilotne ronilice
• Autor: Nikola Mišković; MBZ: 267745
• Autor: Đula Nađ; MBZ: 368990
• Autor: Zoran Vukić; MBZ: 74412
• Autorova ustanova: Sveučilište u Zagrebu; Fakultet elektrotehnike i računarstva
• Znanstveno / umjetničko područje, polje i grana: TEHNIČKE ZNANOSTI; Elektrotehnika; Automatizacija i robotika

Sažetak (engleski)

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.

• Ključne riječi (engleski): control; line following; marine vehicles; unmanned underwater vehicles
• Jezik: engleski
• Vrsta publikacije: Znanstveni rad - Izvorni znanstveni rad
• Status objave: Objavljen
• Vrsta recenzije: Recenziran - međunarodna recenzija
• Verzija publikacije: Objavljena verzija rada (izdavačev PDF)
• Naslov časopisa: Brodogradnja : časopis brodogradnje i brodograđevne industrije
• Brojčani podaci: vol. 61, br. 2, str. 121-129
• p-ISSN: 0007-215X
• URN:NBN: urn:nbn:hr:168:518059
• Datum objave publikacije: 2010
• URL dokumenta: http://bib.irb.hr/456374
• Vrsta resursa: Tekst
• Prava pristupa: Otvoreni pristup
• Datum i vrijeme pohrane: 2020-02-12 21:06:11