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Control and guidance for homing and docking tasks using an autonomous underwater vehicle

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2 Author(s)
Pakpong Jantapremjit ; Fluid-Structure Interactions Research Group, School of Engineering Sciences, University of Southampton, SO16 1BJ, United Kingdom ; Philip A. Wilson

This paper presents the results of a control and guidance strategy for homing and docking tasks using an autonomous underwater vehicle. An optimal high-order sliding mode control via state-dependent Riccati equation approach is introduced providing a robustness of motion control including elimination of chattering effect for decoupled systems of an AUV. Motion planning for a docking is introduced. The average vector field based on an artificial potential field method gives a desired trajectory using existing information from ocean network sensors. It provides a guidance for an AUV to follow the path to a required position with final desired orientation. A Line-of-Sight method is used for an AUV to follow the predefined path. In order to improve a docking manoeuver, a switched weight technique is proposed for controlling a vehicle's path and final stage docking.

Published in:

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

Oct. 29 2007-Nov. 2 2007