A comparison between guidance laws for AUVs using relative kinematics
conference contributionposted 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.
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- Mechanical, Electrical and Manufacturing Engineering