A comparison between guidance laws for AUVs using relative kinematics

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dc.contributor.authorBilale, Abudureheman
dc.contributor.authorSavvaris, Al
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2018-06-27T11:50:03Z
dc.date.available2018-06-27T11:50:03Z
dc.date.issued2017-10-26
dc.description.abstractThis paper presents a comparison between three popular guidance laws for path following of autonomous underwater vehicles: switching enclosure-based Line-Of-Sight (LOS), lookahead-based LOS, and vector field guidance laws. The equations of motion employ the concept of the relative kinematics, and a nonlinear controller is applied together with the guidance systems during path-following. The optimal tuning values for each guidance are selected using the Pareto efficiencies from multiple simulations in terms of providing low cross-track error and control effort. Performance analysis are carried out for a waypoint following scenario both with and without significant constant and irrotational ocean currents as disturbances. Simulation results are also presented using the model of an AUV.en_UK
dc.identifier.citationBilal Abdurahman, A. Savvaris and A. Tsourdos. A comparison between guidance laws for AUVs using relative kinematics. OCEANS 2017, 19-22 June 2017, Aberdeen, Scotland, UK.en_UK
dc.identifier.isbn978-1-5090-5278-3
dc.identifier.urihttps://ieeexplore.ieee.org/document/8084781/
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/13275
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectline-of-sighten_UK
dc.subjectguidance lawsen_UK
dc.subjectpath-followingen_UK
dc.subjectcontrolen_UK
dc.subjectcurrent disturbanceen_UK
dc.subjectunderwater vehiclesen_UK
dc.titleA comparison between guidance laws for AUVs using relative kinematicsen_UK
dc.typeConference paperen_UK

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