Guidance-Control Based Path Following for Homing and Docking using an Autonomous Underwater Vehicle
Pakpong Jantapremjit, P.A. Wilson · 2008
This paper considers the control and guidance based path following strategy for homing and docking tasks using an autonomous underwater vehicle. The vector field based on a conventional artificial potential field method gives a desired trajectory using existing information from ocean network sensors. An integrated sliding mode control approach is introduced providing a robustness of motion control. A well structured Line- of-Sight method is used for an autonomous underwater vehicle to follow the path. An optimal trajectory is done by calculating the optimal way-point passing through all of the pitch and yaw angles. The proposed approach provides a guidance-control based for the vehicle to follow the predefined path to a required position with final desired orientation at the docking platform. The simulation results in 2D and 3D docking preparation manoeuvres are shown.