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3D track-keeping method for autonomous underwater vehicle

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Abstract

In this paper, 3D track-keeping control method for autonomous underwater vehicle (AUV) with and without the influence of ocean current is investigated. Because the system to be controlled is highly nonlinear and strong coupled, an approach is used to divide it into two subsystems. One is to control the heading and the track error on the horizontal plane. The other is to control the pitch and the track error on the vertical plane. The results of computer simulation show that the autopilot works properly, it can capture the current waypoint and turns to track the next path automatically.

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Authors and Affiliations

  1. College of Power and Nuclear Engineering, Harbin Engineering University, 150001, Harbin, China

    Wang Wei, Bian Xin-Qian & Chang Zong-Hu

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  1. Wang Wei
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  2. Bian Xin-Qian
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  3. Chang Zong-Hu
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Wang, W., Bian, XQ. & Chang, ZH. 3D track-keeping method for autonomous underwater vehicle. JMSA 1, 18–22 (2002). https://doi.org/10.1007/BF02935833

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  • DOI: https://doi.org/10.1007/BF02935833

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