A model-based kinematic guidance method for control of underactuated autonomous underwater vehicles - Université de Bretagne Occidentale
Journal Articles Control Engineering Practice Year : 2024

A model-based kinematic guidance method for control of underactuated autonomous underwater vehicles

Abstract

In this work, a novel guidance principle for underactuated autonomous underwater vehicles is introduced. This new method relies on the kinematic coupling between non-actuated and actuated degrees of freedom. It uses a newly introduced matrix called the Handy Matrix denoted H. The method allows reassigning unused degrees of freedom of the task to useful non-actuated DOF. The algorithm and design rules leading to the construction of H are also provided. Two different solutions based on matrix H are compared on a standard seabed scanning task.

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Dates and versions

hal-04690659 , version 1 (30-09-2024)

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Loïck Degorre, Thor Fossen, Olivier Chocron, Emmanuel Delaleau. A model-based kinematic guidance method for control of underactuated autonomous underwater vehicles. Control Engineering Practice, 2024, 152, pp.106068. ⟨10.1016/j.conengprac.2024.106068⟩. ⟨hal-04690659⟩
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