Drift angle compensation-based adaptive line-of-sight path following for autonomous underwater vehicle |
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| Institution: | 1. School of Physics and Electronic Electrical Engineering, Huaiyin Normal University, Huaian 223300, China;2. School of Automation, Southeast University, Nanjin 210096, China;3. Graduate Institute of Animation and Film Art, Tainan National University of the Arts and Dept. of Electrical Engineering, National Taipei University, China;1. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, 1037, Luoyu Road, Wuhan 430074, China;2. Department of Robotics, CNRS-LIRMM-UMII, UMR 5506-CC 477, 161 rue Ada, 34392 Montpellier Cedex 5, France;3. State Key Lab of Digital Manufacturing, Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China;1. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, 1037, Luoyu Road, 430074, Wuhan, China;2. Department of Robotics, CNRS-LIRMM-UMII, UMR 5506-CC 477, 161 rue Ada, 34392 Montpellier Cedex 5, France;1. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, 1037, Luoyu Road, 430074 Wuhan, China;2. State Key Lab of Digital Manufacturing, Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China |
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| Abstract: | The aim of this study is to solve the problem of poor tracking in autonomous underwater vehicle (AUVs) that are operating based on traditional line-of-sight (LOS) method when tracking different paths in a complex marine environment. An adaptive-LOS (ALOS) guidance law with drift angle compensation is proposed, and is employed to calculate the AUV’s desired course (direction of velocity) and heading. First, an appropriate look-ahead distance is derived by the ALOS guidance law in consideration of the predefined path curvature, real-time tracking error and speed of the AUV. Subsequently, proper compensation is provided with respect to the actual drift angle. Compared with traditional LOS operation, this method flexibly adjusts to a suitable look-ahead distance while considering many related factors, providing a better path following performance. Both simulation and experimental results are presented to validate the effectiveness of this method. |
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