1,721,201 research outputs found
Study of wash reduction for vessels operating in shallow water and subsequent development of a wash-optimised design for river patrol craft
No full textUnderwater vehicle technology: the European project (FREESUB)
No full textThis paper outlines the working of the Marie Curie research network funded by the European Network and as an example of the outcome of the research briefly introduces a strategy for autonomous homing and docking tasks using an autonomous underwater vehicle. The control and guidance based path following for those tasks are described in this work. A standard sliding mode for controller design is briefly given. The method provides robust motion control efforts for an underwater vehicle’s decoupled system whilst minimising chattering effects. In a guidance system, the vector field based on a conventional artificial potential field method gives a desired trajectory with a use of existing information from sensors in the network. A well structured Line-of-Sight method is used for an AUV to follow the path. It provides guidance for an AUV to follow the predefined trajectory to a required position with the final desired orientation at the dock. Integration of a control and guidance system provides a complete system for this application. Simulation studies are illustrated in the pape
Autonomous homing and docking tasks for an underwater vehicle
No full textThis paper briefly introduces a strategy for autonomous homing and docking tasks using an autonomous underwater vehicle. The control and guidance based path following for those tasks are described in this work. A standard sliding mode for controller design is briefly given. The method provides robust motion control efforts for an underwater vehicle’s decoupled system whilst minimising chattering effects. In a guidance system, the vector field based on a conventional artificial potential field method gives a desired trajectory with a use of existing information from sensors in the network. A well structured Line-of-Sight method is used for an AUV to follow the path. It provides guidance for an AUV to follow the predefined trajectory to a required position with the final desired orientation at the dock. Integration of a control and guidance system provides a complete system for this application. Simulation studies are illustrated in the paper
Autonomous homing and docking tasks for an underwater vehicle
No full textThis paper briefly introduces a strategy for autonomoushoming and docking tasks using an autonomous underwatervehicle. The control and guidance based path following forthose tasks are described in this work. A standard slidingmode for controller design is briefly given. The methodprovides robust motion control efforts for an underwatervehicle’s decoupled system whilst minimising chatteringeffects. In a guidance system, the vector field based on aconventional artificial potential field method gives adesired trajectory with a use of existing information fromsensors in the network. A well structured Line-of-Sightmethod is used for an AUV to follow the path. It providesguidance for an AUV to follow the predefined trajectory toa required position with the final desired orientation at thedock. Integration of a control and guidance system providesa complete system for this application. Simulation studiesare illustrated in the paper
Optimal control and guidance of homing and docking tasks using an autonomous underwater vehicle
No full textIn this paper, the simulation results of a control and guidance strategy for homing and docking tasks using an autonomousunderwater vehicle are presented. An optimal high-order sliding mode control via state-dependent Riccati equation approachis 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 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 anAUV to follow the predefined path to a required position with final desired orientation. A Line-of-Sight method is usedfor an AUV to follow the path. In order to improve a docking manoeuver, a switched weight technique is proposed forcontrolling a vehicle’s path and final stage docking
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