Model-Validation and Implementation of a Path-Following Algorithm in an Autonomous Underwater Vehicle

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 t...

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Published in:Applied sciences Vol. 11; no. 24; p. 11891
Main Authors: Villa, Jose, Vallicrosa, Guillem, Aaltonen, Jussi, Ridao, Pere, Koskinen, Kari T.
Format: Journal Article
Language:English
Published: Basel MDPI AG 01.12.2021
Subjects:
Algorithms
Autonomous underwater vehicles
AUV
Controllers
Field study
GNC
Mathematical models
MATLAB-Simulink
Methods
model-validation
Ocean currents
Parameter estimation
path-following
ROS
Sensors
Simulation
Software
Vehicles
Velocity
ISSN:2076-3417, 2076-3417
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Abstract 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.
AbstractList 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.
Author Villa, Jose
Ridao, Pere
Vallicrosa, Guillem
Koskinen, Kari T.
Aaltonen, Jussi
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  givenname: Kari T.
  orcidid: 0000-0002-8538-8184
  surname: Koskinen
  fullname: Koskinen, Kari T.
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SubjectTerms Algorithms
Autonomous underwater vehicles
AUV
Controllers
Field study
GNC
Mathematical models
MATLAB-Simulink
Methods
model-validation
Ocean currents
Parameter estimation
path-following
ROS
Sensors
Simulation
Software
Vehicles
Velocity
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Title Model-Validation and Implementation of a Path-Following Algorithm in an Autonomous Underwater Vehicle
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