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Vector field path following for an autonomous underwater vehicle |
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| รหัสดีโอไอ | |
| Creator | P. JANTAPREMJIT |
| Title | Vector field path following for an autonomous underwater vehicle |
| Publisher | Thai Society of Mechanical Engineers |
| Publication Year | 2557 |
| Journal Title | Journal of Research and Applications in Mechanical Engineering |
| Journal Vol. | 2 |
| Journal No. | 1 |
| Page no. | 84-90 |
| Keyword | Path following, line of sight, vector field |
| ISSN | 2229-2152 |
| Abstract | The paper presents a method of path following guidance for an autonomous underwater vehicle, which is one of the three fundamental problems in the autonomous system. The line of sight guidance based on the vector field is proposed to generate desired path input to the control laws. The proposed optimal path gives a smooth command transition. The concept of this method is developed by a linear quadratic regulator. The candidate Lyapunov function is then used to show asymptotic decay of path following errors. The simulations have shown that the method gives the underwater vehicle to follow the path and converge to the destination with small error in positions and orientations. |
