Modeling and Simulation of an AUV Simulator With Guidance System

An intelligent autonomous underwater vehicle (AUV) simulator with path-planning capability was developed. A guidance system of the simulator automatically generates continuous-curvature paths of a cubic B-spline class constrained by the minimum turning radius of the marine vehicle and waypoints. The...

Full description

Bibliographic Details

Published in:	IEEE journal of oceanic engineering Vol. 38; no. 2; pp. 211 - 225
Main Authors:	Chen, Chen-Wei, Kouh, Jen-Shiang, Tsai, Jing-Fa
Format:	Journal Article
Language:	English
Published:	IEEE 01.04.2013
Subjects:	Autonomous underwater vehicle (AUV) autopilot B-spline Euler-Rodriguez quaternion Hydrodynamics Kinematics maneuvering Mathematical model path planning proportional-integral-derivative (PID) controller Quaternions Splines (mathematics) Vehicle dynamics Vehicles
ISSN:	0364-9059, 1558-1691
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!