Experimental verification for the control system of intelligent underwater vehicle

Author

Pang, Yongjie ; Peng, Liang ; Xu, Yuru ; Gu, Guochang

Author_Institution

Dept. of Naval Archit. & Ocean Eng., Harbin Eng. Univ., China

fYear

1998

fDate

15-17 Apr 1998

Firstpage

472

Lastpage

477

Abstract

This paper introduces an intelligent underwater vehicle and describes the architecture of the control system, especially the mission execution module. An artificial neural network is used to deal with the nonlinear dynamics of underwater vehicle and the unpredictable disturbances. Performances of the system on motion control, autonomous navigation and obstacle avoidance were tested by a series of experiments in a lake. The results show that the performance of the system was stable and reliable

Keywords

feedforward neural nets; intelligent control; marine systems; motion control; navigation; neurocontrollers; nonlinear dynamical systems; path planning; control system; feedforward neural network; intelligent underwater vehicle; mission execution module; motion control; navigation; nonlinear dynamics; obstacle avoidance; Artificial intelligence; Artificial neural networks; Control systems; Intelligent control; Intelligent systems; Intelligent vehicles; Nonlinear dynamical systems; Performance evaluation; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Underwater Technology, 1998. Proceedings of the 1998 International Symposium on

Conference_Location

Tokyo

Print_ISBN

0-7803-4273-9

Type

conf

DOI

10.1109/UT.1998.670161

Filename

670161