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...

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Vydané v:	IEEE journal of oceanic engineering Ročník 38; číslo 2; s. 211 - 225
Hlavní autori:	Chen, Chen-Wei, Kouh, Jen-Shiang, Tsai, Jing-Fa
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	IEEE 01.04.2013
Predmet:	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
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