Vector field path following for an autonomous underwater vehicle

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Published: Oct 7, 2018
Keywords:
Path following line of sight vector field

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P. Jantapremjit
Department of Mechanical Engineering, Faculty of Engineering, Burapha University, Chonburi, 20131

Abstract

The paper presents a method of path following guidance for an autonomous underwater vehicle, which is one of the three fundamental problems in the autonomous system. The line of sight guidance based on the vector field is proposed to generate desired path input to the control laws. The proposed optimal path gives a smooth command transition. The concept of this method is developed by a linear quadratic regulator. The candidate Lyapunov function is then used to show asymptotic decay of path following errors. The simulations have shown that the method gives the underwater vehicle to follow the path and converge to the destination with small error in positions and orientations.

Article Details

How to Cite
Jantapremjit, P. (2018). Vector field path following for an autonomous underwater vehicle. Journal of Research and Applications in Mechanical Engineering, 2(1), 84–90. Retrieved from https://ph01.tci-thaijo.org/index.php/jrame/article/view/149435
Issue
Vol. 2 No. 1 (2014)
Section
RESEARCH ARTICLES

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