Naslov
3D Line Following for Unmanned Underwater Vehicles
(Praćenje 3D pravca za bespilotne ronilice)

Autori
Mišković, Nikola ; Nađ, Đula ; Vukić, Zoran

Izvornik
Brodogradnja (0007-215X) 61 (2010), 2; 121-129

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
control ; line following ; marine vehicles ; unmanned underwater vehicles

Sažetak
When designing guidance controllers for unmanned underwater vehicles, an assumption is often made that the vessel operates at a constant depth. However, in many applications the desired depth often changes with the position of the vessel in the horizontal plane. This paper addresses the problem of three dimensional line following with application to underactuated underwater vehicles. The problem is resolved by separating the desired line into two components. The main contribution of this paper is the design of 3D line following controllers for underactuated underwater vehicles. The control design is based on constant controlled surge speed and a simplified decoupled model of an underwater vehicle. Detailed design procedure is presented. The simulation results are obtained from a complex, coupled model, which proves that the proposed algorithm can be used on real vehicles.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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