A switching LOS guidance with relative kinematics for path-following of underactuated underwater vehicles
Date published
2017-07-31
Free to read from
Supervisor/s
Journal Title
Journal ISSN
Volume Title
Publisher
Elsevier
Department
Type
Conference paper
ISSN
2405-8963
Format
Citation
Abdurahman B, Savvaris A, Tsourdos A. (2017) switching LOS guidance with relative kinematics for path-following of underactuated underwater vehicles. IFAC-PapersOnLine, Volume 50, Issue 1, 2017, pp. 2290-2295
Abstract
This paper presents a switching heuristic for the enclosure-based line-of-sight (ELOS) guidance and the concept of relative kinematics. The switching scheme proposed addresses the need for additional path-approaching strategies required in ELOS guidance in case of large cross-track errors. A nonlinear controller is applied to solve the path-following problem as a maneuvering problem, and the resulting guidance system with the relative kinematics perform well in compensating for drift caused by strong ocean currents. Stability and convergence analysis of the closed-loop systems are also provided along with simulation results showing straight-line waypoint-following performance of an AUV.
Description
Software Description
Software Language
Github
Keywords
line-of-sight guidance, current compensation, underwater vehicles, AUVs, path-following control
DOI
Rights
Attribution-NonCommercial-NoDerivatives 4.0 International