NDLI: Guidance-based path following for autonomous underwater vehicles

Content Provider	IEEE Xplore Digital Library
Author	Breivik, M. Fossen, T.I.
Copyright Year	2005
Description	Author affiliation: Centre for Ships & Ocean Struct., Norwegian Univ. of Sci. & Technol., Trondheim, Norway (Breivik, M.)
Abstract	This paper addresses the problem of path following for autonomous underwater vehicles (AUVs) by utilizing a novel guidance-based approach. Termed guidance-based path following, the proposed approach is equally applicable for sea, land and air vehicles. This relates to the fact that the core guidance laws are developed at an ideal, dynamics-independent level, entailing generally valid laws uninfluenced by the particularities of any specific dynamics case. The laws can subsequently be tailored to specific target systems like AUVs. A nonlinear, model-based velocity and attitude controller, which depends fully on the guidance system reference signals in order to fulfil the guidance-based path following task objectives, is proposed for the purpose of controlling both fully actuated and underactuated AUVs. The resulting guidance and control scheme renders all regular paths feasible, and simulation results successfully demonstrate its capability.
Starting Page	2807
Ending Page	2814
File Size	2721387
Page Count	8
File Format	PDF
ISBN	0933957343
DOI	10.1109/OCEANS.2005.1640200
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-09-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Underwater vehicles Oceans Marine vehicles Marine technology Electronic mail Navigation Space vehicles Kinematics Robustness Automotive engineering
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Robust adaptive path following control for autonomous underwater vehicles with virtual guidance

Guidance-Control Based Path Following for Homing and Docking using an Autonomous Underwater Vehicle

Robust and adaptive path following for underactuated autonomous underwater vehicles

The evolutionary development of the military autonomous underwater vehicle

Global path following control for unmanned underwater vehicles

3D path-following of underactuated Autonomous Underwater Vehicles

On the prediction of manoeuvrability of the autonomous underwater vehicle, AUV-HM1

Cooperative path-following in a moving path reference framework for autonomous marine vehicles

Development of a modular docking sub-system for 12" class autonomous underwater vehicles

Guidance-based path following for autonomous underwater vehicles

Similar Documents

Robust adaptive path following control for autonomous underwater vehicles with virtual guidance

Guidance-Control Based Path Following for Homing and Docking using an Autonomous Underwater Vehicle

Robust and adaptive path following for underactuated autonomous underwater vehicles

The evolutionary development of the military autonomous underwater vehicle

Global path following control for unmanned underwater vehicles

3D path-following of underactuated Autonomous Underwater Vehicles

On the prediction of manoeuvrability of the autonomous underwater vehicle, AUV-HM1

Cooperative path-following in a moving path reference framework for autonomous marine vehicles

Development of a modular docking sub-system for 12" class autonomous underwater vehicles

Guidance-based path following for autonomous underwater vehicles