A Virtual Reference Point Kinematic Guidance Law for 3-D Path-Following of Autonomous Underwater Vehicles - Université de Bretagne Occidentale
Journal Articles IEEE Access Year : 2024

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

Abstract

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.
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Dates and versions

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

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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⟩
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