A Virtual Reference Point Kinematic Guidance Law for 3-D Path-Following of Autonomous Underwater Vehicles - Equipe ROBotics for EXploration
Article Dans Une Revue IEEE Access Année : 2024

A Virtual Reference Point Kinematic Guidance Law for 3-D Path-Following of Autonomous Underwater Vehicles

Résumé

This work presents a novel method for 3-D path-following and path-tracking of Autonomous Underwater Vehicles (AUVs) using the concept of a Virtual Reference Point (VRP) and a kinematic guidance principle. The origins of the along-, cross-and vertical-track errors are proven globally exponentially stable (GES) using Lyapunov stability analysis. The kinematic guidance law exploits the design flexibility of a user-defined VRP in conjunction with a feedback linearizing controller. In addition, a novel concept called the Handy Matrix is introduced and applied to shape the kinematic equations such that the AUV's nonactuated degrees of freedom (DOFs) can be controlled in a 3-D path-following scenario. The case study considers the Remus 100, a torpedo-shaped underactuated AUV, performing a 3-D path-following maneuver. The computer simulations show that the kinematic guidance law shows excellent tracking performance and stability even in the presence of ocean currents and white measurement noise.
Fichier principal
Vignette du fichier
A_Virtual_Reference_Point_Kinematic_Guidance_Law_for_3-D_Path-Following_of_Autonomous_Underwater_Vehicles.pdf (1.27 Mo) Télécharger le fichier
Origine Fichiers éditeurs autorisés sur une archive ouverte
licence

Dates et versions

hal-04675964 , version 1 (23-08-2024)

Licence

Identifiants

Citer

Loïck Degorre, Thor I Fossen, Emmanuel Delaleau, Olivier Chocron. A Virtual Reference Point Kinematic Guidance Law for 3-D Path-Following of Autonomous Underwater Vehicles. IEEE Access, 2024, 12, pp.109822 - 109831. ⟨10.1109/access.2024.3440659⟩. ⟨hal-04675964⟩
3 Consultations
0 Téléchargements

Altmetric

Partager

More