Name
Abstract | ||
|---|---|---|
A 2D path following control method for Autonomous Underwater Vehicles (AUVs) based on dynamic circle heading modification (DCHM) is presented. The method makes a dynamic auxiliary circle, whose radius depends on the cross- track error e, to intersect the desired path to get a new expected path point, and then determines a modified expected heading for the AUV. The guidance function is achieved by a direct mapping between e and the heading modification value psi(m). Several cases are tested in order to demonstrate the performance of the guidance and control method based on DCHMs for a real AUV. Results show that methods using a convex mapping function between e and psi(m) based on our new idea can easily achieve a better convergence of path following, and reduce the error between the actual and desired heading angles. We can also customize a discretionary mapping between e and psi(m) to get better path following performance. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1017/S0263574715000867 | ROBOTICA |
Keywords | DocType | Volume |
Underactuated AUV,Path following,Control,Line-of-sight guidance,Dynamic circle guidance | Journal | 35 |
Issue | ISSN | Citations |
4 | 0263-5747 | 2 |
PageRank | References | Authors |
0.52 | 6 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| huang xinjing | 1 | 2 | 1.20 |
| li yibo | 2 | 2 | 0.52 |
| du fei | 3 | 15 | 7.39 |
| Shijiu Jin | 4 | 53 | 6.00 |