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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