A Comparison between Guidance Laws for AUVs using Relative Kinematics.pdf (841.76 kB)

A comparison between guidance laws for AUVs using relative kinematics

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conference contribution
posted on 23.03.2021, 12:17 by Bilale Abudureheman, A Savvaris, A Tsourdos
This 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.

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Published in

OCEANS 2017 - Aberdeen

Source

OCEANS 2017 - Aberdeen

Publisher

IEEE

Version

AM (Accepted Manuscript)

Rights holder

© IEEE

Publisher statement

© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Publication date

2017-10-26

Copyright date

2017

ISBN

9781509052783

Language

en

Location

Aberdeen, UK

Event dates

19th June 2017 - 22nd June 2017

Depositor

Dr Bilale Abudureheman. Deposit date: 23 March 2021

Exports

Loughborough Publications

Categories

Exports