scholarly journals Path Following Based on Waypoints and Real-Time Obstacle Avoidance Control of an Autonomous Underwater Vehicle

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 795 ◽  
Author(s):  
Xuliang Yao ◽  
Xiaowei Wang ◽  
Feng Wang ◽  
Le Zhang
Keyword(s):  
Real Time ◽  
Obstacle Avoidance ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Path Following ◽  
Underwater Vehicle ◽  
System Stability ◽  
Guidance Law ◽  
Angular Velocities ◽  
Avoidance Control

This paper studies three-dimensional (3D) straight line path following and obstacle avoidance control for an underactuated autonomous underwater vehicle (AUV) without lateral and vertical driving forces. Firstly, the expected angular velocities are designed by using two different methods in the kinematic controller. The first one is a traditional method based on Line-of-sight (LOS) guidance law, and the second one is an improved method based on model predictive control (MPC). At the same time, a penalty item is designed by using the obstacle information detected by onboard sensors, which can realize the real-time obstacle avoidance of the unknown obstacle. Then, in order to overcome the uncertainty of the dynamics model and the saturation of actual control input, the dynamic controller is designed by using sliding mode control (SMC) technology. Finally, in the simulation experiment, the performance of the improved control method is verified by comparison with two traditional control methods based on LOS guidance law. Since the constraint of an AUV’s angular velocities are considered in MPC, simulation results show that the improved control method uses MPC, and SMC not only improves the tracking quality of the AUV when switching paths near the waypoints and realizes real-time obstacle avoidance but also effectively reduces the mean square error (MSE) and saturation rate of the rudder angle. Therefore, this control method is more conducive to the system stability and saves energy.

Potential function-based path-following control of an autonomous underwater vehicle in an obstacle-rich environment

2016 ◽  
Vol 39 (8) ◽  
pp. 1236-1252 ◽  
Author(s):  
Basant Kumar Sahu ◽  
Bidyadhar Subudhi
Keyword(s):  
Potential Function ◽  
Obstacle Avoidance ◽  
Autonomous Underwater Vehicle ◽  
Path Following ◽  
Underwater Vehicle ◽  
Repulsive Force ◽  
Control Laws ◽  
Path Following Control ◽  
Avoidance Control ◽  
Solid Obstacles

This paper presents the development of simple but powerful path-following and obstacle-avoidance control laws for an underactuated autonomous underwater vehicle (AUV). Potential function-based proportional derivative (PFPD) as well as a potential function-based augmented proportional derivative (PFAPD) control laws are developed to govern the motion of the AUV in an obstacle-rich environment. For obstacle avoidance, a mathematical potential function is used, which formulates the repulsive force between the AUV and the solid obstacles intersecting the desired path. Numerical simulations are carried out to study the efficacy of the proposed controllers and the results are observed. To reduce the values of the overshoots and steady-state errors identified due to the application of PFPD controller a PFAPD controller is designed that drives the AUV along the desired trajectory. From the simulation results, it is observed that the proposed controllers are able to drive the AUV to track the desired path, avoiding the obstacles in an obstacle-rich environment. The results are compared and it is observed that the PFAPD outperforms the PFPD to drive the AUV along the desired trajectory. It is also proved that it is not necessary to employ highly complicated controllers for solving obstacle-avoidance and path-following problems of underactuated AUVs. These problems can be solved with the application of PFAPD controllers.

Real-time path planning and obstacle avoidance for RAIS: an autonomous underwater vehicle

2001 ◽  
Vol 26 (2) ◽  
pp. 216-227 ◽  
Author(s):  
G. Antonelli ◽  
S. Chiaverini ◽  
R. Finotello ◽  
R. Schiavon
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Time Path

scholarly journals Path Following Control of Fully Actuated Autonomous Underwater Vehicle Based on LADRC

2018 ◽  
Vol 25 (4) ◽  
pp. 39-48 ◽  
Author(s):  
Habib Choukri Lamraoui ◽  
Zhu Qidan
Keyword(s):  
Real Time ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Path Following ◽  
Underwater Vehicle ◽  
Control Law ◽  
External Disturbances ◽  
Path Following Control ◽  
State Measurement ◽  
Full State

Abstract This paper presents an active disturbances rejecter controller (ADRC) for position and path following control of a fully actuated autonomous underwater vehicle (AUV). The unmodeled, undesirable dynamics and disturbances reduce the performances of classical controllers and complicate the design of appropriate and efficient controllers. In the proposed approach, the different modeling complexities; such as uncertain parameters, non-linearities, and external disturbances are considered all as a part of disturbance which is estimated in real-time by the extended state observer ESO, and effectively compensated from the control law. The ESO is also able to estimate the position and velocity of the system in real-time, in case where the full state measurement of the AUV is not possible during experiments. Computer simulations demonstrate the high ability of the AUV tracking control based on ADRC, to follow the desired trajectory in the horizontal plane and space with high precision, and showed high robustness and efficiency in rejecting the external and internal disturbances caused by significant changes in parameters of the system, and the added position disturbances.

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