Naslov
Diver Tracking Using Path Stabilization - the Virtual Diver Experimental Results

Autori
Nađ, Đula ; Mandić, Filip ; Mišković, Nikola

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, 214-219

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 ; target tracking ; path control ; nonlinear control

Sažetak
The paper presents experimental results for a diver tracking and monitoring controller. The controller utilizes an existing non-linear path following design to ensure safe manoeuvering around the diver. Controller kinematics is derived in the paper and path following is extended with path positioning to allow improved diver observation. Hardware in-the- loop experiments, presented in this paper, analyse the controller behaviour on a fully- actuated underwater vehicle developed at the Laboratory for Underwater Systems and Technologies (LABUST). During experiments the human diver is replaced with a simulated entity referred to as the virtual diver. Experiments isolate and analyse three main parts of the controller: the approach, path following and diver tracking.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

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