Skip to main content

Development of a three-dimensional guidance system for long-range maneuvering of a miniature autonomous underwater vehicle

China Ocean Engineering volume 28, pages 843–856 (2014)Cite this article

Abstract

The present paper introduces a three-dimensional guidance system developed for a miniature Autonomous Underwater Vehicle (AUV). The guidance system determines the best trajectory for the vehicle based on target behavior and vehicle capabilities. The dynamic model of this novel AUV is derived based on its special characteristics such as the horizontal posture and the independent diving mechanism. To design the guidance strategy, the main idea is to select the desired depth, presumed proportional to the horizontal distance of the AUV and the target. By connecting the two with a straight line, this strategy helps the AUV move in a trajectory sufficiently close to this line. The adjacency of the trajectory to the line leads to reasonably short travelling distances and avoids unsafe areas. Autopilots are designed using sliding mode controller. Two different engagement geometries are considered to evaluate the strategy’s performance: stationary target and moving target. The simulation results show that the strategy can provide sufficiently fast and smooth trajectories in both target situations.

This is a preview of subscription content, access via your institution.

Access options

Buy single article

Instant access to the full article PDF.

USD 39.95

Price includes VAT (USA)
Tax calculation will be finalised during checkout.

References

  • Aguiary, A. and Pascoal, A., 1997. Modeling and control of an autonomous underwater shuttle for the transport of benthic laboratories, OCEANS’97. MTS/IEEE Conference Proceedings.

    Google Scholar 

  • Ahmad, S. M., Sutton, R. and Burns, R. S., 2003. Retrieval of an autonomous underwater vehicle: An interception approach, Underwater Technology, 25(4): 185–197.

    Article  Google Scholar 

  • Ataei, M., 2010. Intelligent Navigation of A Micro Underwater Vehicle Using An Experimental Test Bed, MSc. Thesis, University of Tehran.

    Google Scholar 

  • Ataei, M., Yousefi-Koma, A. and Adibi, S., 2010a. Implementation of a heading autopilot and LOS guidance system for MAUV, Proc. 18th. Annual Conference on Mechanical Engineering-ISME2010, Tehran, Iran.

    Google Scholar 

  • Ataei, M., Yousefi-koma, A. and Shariat Panahi, M., 2010b. Multicriterion offline path planning of a biomimetic underwater vehicle, Proceedings of the ASME 2010 10th Biennial Conference on Engineering System Design and Analysis ESDA2010, Istanbul, Turkey, 737–741.

    Google Scholar 

  • Breivik, M. and Fossen, T. I., 2005. Principles of guidance-based path following in 2D and 3D, IEEE CDCECC’ 05 Conference, Seville, Spain, 627–634.

    Google Scholar 

  • Caccia, M., Bruzzone, G. and Veruggio, G., 2000. Guidance of unmanned underwater vehicles: Experimental results, Proceedings of IEEE International Conference on Robotics and Automation (ICRA’00), San Francisco, CA, 2, 1799–1804.

    Google Scholar 

  • Caccia, M., Casalino, G., Cristi, R. and Veruggio, G., 1998. Acoustic motion estimation and control for an unmanned underwater vehicle in a structured environment, Control Engineering Practice, 6(5): 661–670.

    Article  Google Scholar 

  • Chen, C. T., 1984. Linear System Theory and Design, CBS College Publishing.

    Google Scholar 

  • Cloutier, J. R., Evers, J. H. and Feeley, J. J., 1989. Assessment of air-to air missile guidance and control technology, IEEE Control Systems Magazine, 9(6): 27–34.

    Article  Google Scholar 

  • Do, K. D., Pan, J. and Jiang, Z. P., 2004. Robust and adaptive path following for underactuated autonomous underwater vehicles, Ocean Eng., 31(16): 1967–1997.

    Article  Google Scholar 

  • Engelhardsten, O., 2005. 3D AUV Collision Avoidance, MSc. Thesis, Norwegian University of Science and Technology, Trondheim, Norway.

    Google Scholar 

  • Fossen, T. I., 1987. Nonlinear Modeling and Control of Underwater Vehicle, MSc. Thesis, Division of Marine Systems Design, Department of Marine Technology.

    Google Scholar 

  • Fossen, T. I., 1994. Guidance and Control of Ocean Vehicles, John Wiley & Sons.

    Google Scholar 

  • Fossen, T. I., 2002. Marin Control Systems, Marine Cybernetics, Trondheim, Norway.

    Google Scholar 

  • Gonzalez, L.A., 2004. Design, Modeling, and Control of An Autonomous Underwater Vehicle, BE Thesis, School of Electrical, Electronic and Computer Engineering, University of Western Australia.

    Google Scholar 

  • Healey, A. J. and Lienard, D., 1993. Multivariable sliding model control for autonomous diving and steering of unmanned underwater vehicles, IEEE Journal of Oceanic Engineering, 18(3): 327–339.

    Article  Google Scholar 

  • Hosseini, S., Yousefi-Koma, A. and Ataei, M., 2011. Guidance system development for autonomous underwater vehicle using fuzzy logic control, Proc. 11th. Annual Conference of Fuzzy Systems, Zahedan, Iran.

    Google Scholar 

  • Iwakami, H., Ura, T., Asakawa, K., Fujii, T., Nose, Y., Kojima, J., Shirasaki, Y., Asai, T., Uchida, S., Higashi, N., and Fukuchi, T., 2002. Approaching whales by autonomous underwater vehicle, Marine Technology Society Journal, 36(1): 80–85.

    Article  Google Scholar 

  • Kondo, H. and Ura, T., 2004. Navigation of an AUV for investigation of underwaters structures, Control Engineering Practice, 12(12): 1551–1559.

    Article  Google Scholar 

  • Lin, C. F. and Tseng, C. Y., 2006. Development of a cost effective mini autonomous underwater vehicle, Journal of Marine Science and Technology, 14(2): 119–126.

    Google Scholar 

  • Lumelsky, V. and Skewis, T., 1990. Incorporating range sensing in the robot navigation function, IEEE Transactions on Systems, Man and Cybernetics, 20(5): 1058–1069.

    Article  Google Scholar 

  • Naeem, W., Sutton, R., Ahmad, S. M., and Burns, R. S., 2003. A review of guidance laws applicable to unmanned underwater vehicles, Journal of Navigation, 56(1): 15–29.

    Article  Google Scholar 

  • Pan, L. X., Jin, H. Z. and Wang, L. L., 2011. Robust control based on feedback linearization for roll stabilizing of autonomous underwater vehicle under wave disturbances, China Ocean Eng., 25(2): 251–263.

    Article  Google Scholar 

  • Subramanian, S. and Thondiyath, A., 2012. An improved guidance algorithm for smooth transition at way-points in 3D space for autonomous underwater vehicles, International Journal of Ocean System Engineering, 2(3): 139–150.

    Article  Google Scholar 

  • Wang, B., Wan, L., Xu, Y. R. and Qin, Z. B., 2009.Modeling and simulation of a mini AUV in spatial motion, Journal of Marine Science and Applications, 8(1): 7–12.

    Article  Google Scholar 

  • Wu, X. P., Feng, Z. P., Zhu, J. M. and Allen, R., 2006. Line of sight guidance with intelligent obstacle avoidance for autonomous underwater vehicles, OCEANS 2006, IEEE Conference Proceedings, Boston, USA.

    Google Scholar 

  • Yuh, J., 2000. Design and control of autonomous underwater robots: A survey, Autonomous Robots, 8(1): 7–24.

    Article  Google Scholar 

  • Zhang, T. D., Zeng, W. J., Wan, L. and Qin, Z. B., 2012. Vision-based system of AUV for an underwater pipeline tracker, China Ocean Eng., 26(3): 547–554.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Center of Advanced Systems & Technologies, Faculty of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran

    Mansour Ataei & Aghil Yousefi-Koma

Authors
  1. Mansour Ataei
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Aghil Yousefi-Koma
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Mansour Ataei.

Rights and permissions

Reprints and Permissions

About this article

Verify currency and authenticity via CrossMark

Cite this article

Ataei, M., Yousefi-Koma, A. Development of a three-dimensional guidance system for long-range maneuvering of a miniature autonomous underwater vehicle. China Ocean Eng 28, 843–856 (2014). https://doi.org/10.1007/s13344-014-0065-9

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s13344-014-0065-9

Key words

  • Autonomous Underwater Vehicle (AUV)
  • Three-Dimensional (3D) guidance system
  • Line-of-Sight (LOS) strategy
  • autopilot
  • sliding mode controller