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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Veröffentlicht in:Applied sciences Jg. 11; H. 24; S. 11891
Hauptverfasser: Villa, Jose, Vallicrosa, Guillem, Aaltonen, Jussi, Ridao, Pere, Koskinen, Kari T.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Basel MDPI AG 01.12.2021
Schlagworte:
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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Zusammenfassung: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.
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ISSN:2076-3417
2076-3417
DOI:10.3390/app112411891