In:
Applied Sciences, MDPI AG, Vol. 11, No. 24 ( 2021-12-14), p. 11891-
Kurzfassung:
This article studies the design, modeling, and implementation of a path-following algorithm as a guidance, navigation, and control (GNC) architecture for an autonomous underwater vehicle (AUV). First, a mathematical model is developed based on nonlinear equations of motion and parameter estimation techniques, including the model validation based on field test data. Then, the guidance system incorporates a line-of-sight (LOS) algorithm with a combination of position PID controllers. The GNC architecture includes a modular and multi-layer approach with an LOS-based, path-following algorithm in the AUV platform. Furthermore, the navigation used in the path-following algorithm is developed based on a predefined coverage area. Finally, this study addresses simulation and field test control scenarios to verify the developed GNC architecture.
Materialart:
Online-Ressource
ISSN:
2076-3417
DOI:
10.3390/app112411891
Sprache:
Englisch
Verlag:
MDPI AG
Publikationsdatum:
2021
ZDB Id:
2704225-X
