| dc.creator |
Bilale, Abudureheman |
|
| dc.creator |
Savvaris, Al |
|
| dc.creator |
Tsourdos, Antonios |
|
| dc.date |
2018-06-27T11:50:03Z |
|
| dc.date |
2018-06-27T11:50:03Z |
|
| dc.date |
2017-10-26 |
|
| dc.date.accessioned |
2022-05-25T16:36:33Z |
|
| dc.date.available |
2022-05-25T16:36:33Z |
|
| dc.identifier |
Bilal Abdurahman, A. Savvaris and A. Tsourdos. A comparison between guidance laws for AUVs using relative kinematics. OCEANS 2017, 19-22 June 2017, Aberdeen, Scotland, UK. |
|
| dc.identifier |
978-1-5090-5278-3 |
|
| dc.identifier |
https://ieeexplore.ieee.org/document/8084781/ |
|
| dc.identifier |
http://dspace.lib.cranfield.ac.uk/handle/1826/13275 |
|
| dc.identifier.uri |
http://localhost:8080/xmlui/handle/CUHPOERS/182134 |
|
| dc.description |
This paper presents a comparison between three popular guidance laws for path following of autonomous underwater vehicles: switching enclosure-based Line-Of-Sight (LOS), lookahead-based LOS, and vector field guidance laws. The equations of motion employ the concept of the relative kinematics, and a nonlinear controller is applied together with the guidance systems during path-following. The optimal tuning values for each guidance are selected using the Pareto efficiencies from multiple simulations in terms of providing low cross-track error and control effort. Performance analysis are carried out for a waypoint following scenario both with and without significant constant and irrotational ocean currents as disturbances. Simulation results are also presented using the model of an AUV. |
|
| dc.language |
en |
|
| dc.publisher |
IEEE |
|
| dc.rights |
Attribution-NonCommercial 4.0 International |
|
| dc.rights |
http://creativecommons.org/licenses/by-nc/4.0/ |
|
| dc.subject |
line-of-sight |
|
| dc.subject |
guidance laws |
|
| dc.subject |
path-following |
|
| dc.subject |
control |
|
| dc.subject |
current disturbance |
|
| dc.subject |
underwater vehicles |
|
| dc.title |
A comparison between guidance laws for AUVs using relative kinematics |
|
| dc.type |
Conference paper |
|