Naslov
Cooperative Surface/Underwater Navigation for AUV Path following missions

Autori
Nađ, Đula ; Ribeiro, Miguel ; Silva Henrique ; Ribeiro, Jorge ; Abreu, Pedro ; Mišković, Nikola ; Pascoal, Antonio

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS'16) / Hassani, Vahid - : IFAC Proceedings Volumes (IFAC-PapersOnline), 2016, 355-360

Skup
10th IFAC Conference on Control Applications in Marine Systems (CAMS'16)

Mjesto i datum
Trondheim, Norveška, 13.09.2016. - 16.09.2016

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
marine systems ; mobile robots ; path following ; target tracking

Sažetak
The paper presents acoustic navigation aiding and path following results from demonstration experiments in Lisbon, Portugal. The demonstration was carried out as part of the second year CADDY Review Meeting. The paper presents the concept of the underwater leader, which entails an underwater vehicle, performing a desired task, and a surface vehicle maintaining relative position to improve navigation aiding through acoustics. The surface controller, utilizing the artificial potential field method, is proposed as an alternative to classical tracking and positioning controllers. Even in presence of multiple agents, the controller offers a more "relaxed" tracking and positioning algorithm for autonomous vehicles. The acoustic data- exchange scheme, required to achieve situation awareness of all agents, is described to specify cycle times and delays that have to be taken into account during state estimation. Finally, results from public demonstrations are presented and analyzed both from the surface and underwater perspectives.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

POVEZANOST RADA