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Horizontal path following for underactuated AUV based on dynamic circle guidance

Published online by Cambridge University Press:  02 November 2015

Huang Xinjing ,
Li Yibo ,
Du Fei  and
Jin Shijiu
Huang Xinjing
Affiliation:
State Key Laboratory of Precision Measurement Technology and Instrument, Tianjin University, Tianjin, China E-mails: huangxinjing@tju.edu.cn, dukemyy@tju.edu.cn, shjjin@tju.edu.cn
Li Yibo*
Affiliation:
State Key Laboratory of Precision Measurement Technology and Instrument, Tianjin University, Tianjin, China E-mails: huangxinjing@tju.edu.cn, dukemyy@tju.edu.cn, shjjin@tju.edu.cn
Du Fei
Affiliation:
State Key Laboratory of Precision Measurement Technology and Instrument, Tianjin University, Tianjin, China E-mails: huangxinjing@tju.edu.cn, dukemyy@tju.edu.cn, shjjin@tju.edu.cn
Jin Shijiu
Affiliation:
State Key Laboratory of Precision Measurement Technology and Instrument, Tianjin University, Tianjin, China E-mails: huangxinjing@tju.edu.cn, dukemyy@tju.edu.cn, shjjin@tju.edu.cn
*
*Corresponding author. E-mail: 1207571368@qq.com
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Summary

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A 2D path following control method for Autonomous Underwater Vehicles (AUVs) based on dynamic circle heading modification (DCHM) is presented. The method makes a dynamic auxiliary circle, whose radius depends on the cross-track error e, to intersect the desired path to get a new expected path point, and then determines a modified expected heading for the AUV. The guidance function is achieved by a direct mapping between e and the heading modification value Ψm . Several cases are tested in order to demonstrate the performance of the guidance and control method based on DCHMs for a real AUV. Results show that methods using a convex mapping function between e and Ψm based on our new idea can easily achieve a better convergence of path following, and reduce the error between the actual and desired heading angles. We can also customize a discretionary mapping between e and Ψm to get better path following performance.

Keywords

Underactuated AUVPath followingControlLine-of-sight guidanceDynamic circle guidance

Information

Type
Articles
Information
Robotica , Volume 35 , Issue 4 , April 2017 , pp. 876 - 891
Copyright
Copyright © Cambridge University Press 2015 

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