NDLI: Estimating the sea current and finding the optimal heading of an AUV through neural network motion control

Content Provider	IEEE Xplore Digital Library
Author	Liang Peng Yongjie Pang Yuru Xu
Copyright Year	1998
Description	Author affiliation: Dept of Naval Archit. & Ocean Eng., Harbin Eng. Univ., China (Liang Peng)
Abstract	For an autonomous underwater vehicle (AUV), sea current is an unknown varying parameter which can not be given before operation and which may impose significant influence on the performance of an AUV. Furthermore, it is difficult to measure the sea current from a moving or suspending AUV. This paper presents a technique for automatically estimating the sea current and finding the optimal heading through neural network motion control. By using a model reference neural network controller, the velocity vector of the vehicle can be oriented to point to the goal position. Meanwhile the heading of the vehicle turns to the angle where the lateral resistance approaches to zero. When the vehicle reaches the goal point, the heading is approximately opposite to the direction of the current. Thus, the AUV can estimate the direction of the current with little error.
Starting Page	239
Ending Page	243
File Size	506416
Page Count	5
File Format	PDF
ISBN	0780342739
DOI	10.1109/UT.1998.670100
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-04-17
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion estimation Neural networks Motion control Underwater vehicles Sea measurements Motion planning Remotely operated vehicles Control systems Vehicle dynamics Optimal control
Content Type	Text
Resource Type	Article

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