Title :
Some marine trial results of a new method for AUV trajectory motion control
Author :
Filaretov, V.F. ; Yukhimets, D.A. ; Mursalimov, E.Sh. ; Scherbatyuk, A.F. ; Tuphanov, I.E.
Author_Institution :
Inst. of Autom. & Control Processes (IACP), Vladivostok, Russia
Abstract :
Some results of a new tracking control method investigation using an autonomous underwater vehicle (AUV) is considered in this paper. This method involves additional loops for automatic program signals generation in AUV control system (CS). The work of these additional loops provides the AUV motion along the desired spatial trajectory with high velocity and desired accuracy. The features of the proposed CS realization and results of experimental researches are presented.
Keywords :
autonomous underwater vehicles; motion control; robot programming; trajectory control; AUV trajectory motion control; CS; automatic program signal generation; autonomous underwater vehicle; autonomous underwater vehicles; marine trial results; spatial trajectory; tracking control method; Accuracy; Navigation; Splines (mathematics); Tracking; Trajectory; Vectors; autonomous underwater vehicle; control system; trajectory motion tracking;
Conference_Titel :
Oceans - St. John's, 2014
Conference_Location :
St. John´s, NL
Print_ISBN :
978-1-4799-4920-5
DOI :
10.1109/OCEANS.2014.7003191
