Underwater Structure Profile Following Controller for Unmanned Vehicles
Date Issued
2008
Date
2008
Author(s)
Shih, Cyuan-Si
Abstract
Unmanned underwater vehicles eliminate the need for human physical presence that reduces human exposure in hazardous environment. Therefore, this study addresses the problem of designing a guidance and path-following controller for unmanned underwater vehicles that takes into account the reference path ahead of the vehicle. The guidance system is designed based on the definition of a tracking error vector which is to be driven to zero by the tracking controller. The controlled vehicle is able to construct the reference path and track the reference path automatically. To increase the path-following performance, an analysis of the nonlinear dynamic characteristics of guidance coupled with orientation control law has been presented. There exist a critical waypoint distance for stability of vehicle motion. Moreover, an algorithm developed to build the reference path has been proposed according to the echo-sounder mounted ahead of the vehicle. Finally, the control system was tested by extensive sea trials using an unmanned underwater vehicle. The experimental results demonstrated a high-performance path-following robotic system for underwater structure inspection.
Subjects
path-following
guidance
parameter identification
underwater vehicles, underwater inspection
Type
thesis
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ntu-97-R95525040-1.pdf
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