[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.5574/IJOSE.2012.2.3.139

An Improved Guidance Algorithm for Smooth Transition at Way-Points in 3D Space for Autonomous Underwater Vehicles

Subramanian, Saravanakumar (Robotics Laboratory, Department of Engineering Design, Indian Institute of Technology Madras)
Thondiyath, Asokan (Robotics Laboratory, Department of Engineering Design, Indian Institute of Technology Madras)

Publication Information

International Journal of Ocean System Engineering / v.2, no.3, 2012 , pp. 139-150 More about this Journal

Abstract

This paper presents an improved guidance algorithm for autonomous underwater vehicles (AUV) in 3D space for generating smoother vehicle turn during the course change at the way-points. The way-point guidance by the line-of-sight (LOS) method has been modified for correcting the reference angles to achieve minimal calculation and smoother transition at the way-points. The algorithm has two phases in which the first phase brings the vehicle to converge to a distance threshold point on the line segment connecting the first two way-points and the next phase generates an angular path with smoother transition at the way-points. Then the desired angles are calculated from the reference and correction angles. The path points are regularly parameterized in the spherical coordinates and mapped to the Cartesian coordinates. The proposed algorithm is found to be simple and can be used for real time implementation. The details of the algorithm and simulation results are presented.

Keywords

Autonomous underwater vehicle (AUV); Guidance; Path planning; Line-of-sight; 3D space;

Citations & Related Records

Reference

1	S. Saravanakumar, and T. Asokan, Way-Point Guidance-based Planar Path Following and Obstacle Avoidance of Autonomous Underwater Vehicle, 8th International Conference on Informatics in control, Automation and Robotics (ICINCO 11), Noordwijkerhout, The Netherlands, (2011) 191-198.
2	P. Encarnacao, and A. Pascoal, 3D Path Following for Autonomous Underwater Vehicle. IEEE Conference on Decision and Control, Sydney, NSW, Australia, (2000) 2977-2982.
3	T. I. Fossen, M. Breivik, and R. Skjetne, Line-Of-Sight Path Following of Underactuated Marine Craft, IFAC Manoeuvering and Control of Marine Craft (MCMC'03), Girona, Spain, (2003).
4	X. Xiang, L. Lapierre, B. Jouvencel, and O. Parodi, Coordinated Path Following Control of Multiple Nonholonomic Vehicles, IEEE Oceans 09 (OCEANS'09), Bremen, (2009) 1-7.
5	S. R. Oh, and J. Sun, Path following of underactuated marine surface vessels using line of sight based model predictive control, J. of Ocean Engineering, 37(2-3) 289-295.
6	M. Aicardi, G. Casaline, G. Indiveri, A. Aguiar, P. Encarnacao, and A. Pascoal, A Planar Path Following Controller for Underactuated Marine Vehicles, IEEE Mediterranean Conference on Control and Automation (MED 01), Dubrovnik, Croatia, (2001).
7	R. Skjetene, U. Jorgensen, and A. R. Teel, Line of sight path following along regularly parameterised curves solved as a generic manoeuvering problem, IEEE Conference on Decision and Control and European Control Conference (CDC-ECC'11), Orlando, USA, (2011) 2467-2474.
8	L. Moreira, T.I. Fossen, and G. Guedes Soares, Path Following Control System for a Tanker Ship Model, J. of. Ocean Engineering, 34 (2007) 2074-2085. DOI ScienceOn
9	V. Bakaric, Z. Vukic, and R. Antonic, Improved Basic Planar Algorithm of Vehicle Guidance through Way-Points by the Line-Of-Sight, IEEE 1st International Symposium on Control, Communications and Signal Processing, (2004) 541-544.
10	D. J. Yeo, Design of AUV Tracking System Using the Sliding Mode Control and The Optimal Control Theory, M.S. Thesis, Department of Naval Architecture and Ocean Engineering, Seoul National University, Korea, (1999).
11	F. Repoulias, and E. Papadopoulos, Planar Trajectory Planning and Tracking Control Design for Underactuated AUVs, J. of Ocean Eng., 34 (1990) 1650-1667.
12	T. W. Kim, and J. Yuh, Development of a Real-Time Control Architecture for a Semi-Autonomous Underwater Vehicle for Intervention Missions, J. of Control Engineering Practice, 12 (2004) 1521-1530. DOI ScienceOn
13	T. I. Fossen, Guidance and Control of Ocean Vehicle, John Wiley and Sons Ltd., Chichester, England (1994).
14	T. I. Fossen, Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles, Marine Cybernetics AS, Trondheim, Norway (2002).
15	W. Naeem, R. Sutton, S. M Ahmad, and R. S. Burns, A Review of Guidance Laws Applicable to Unmanned Underwater Vehicles, J. of Navigation, 56 (1) (2003) 15-29. DOI ScienceOn
16	R. Skjetne, The Manoeuvering Problem, Ph.D. Thesis, Norwegian University of Science and Technology, Trondheim, Norway (2005).
17	M. Breivik, and T. I. Fossen, Principles of Guidance-Based Path Following in 2D and 3D. 44th IEEE Conference on Decision and Control and European Control Conference (CDCECC' 05), Seville, Spain, (2005) 627-634.
18	O. Engelhardsten, 3D AUV Collision Avoidance, M.S. Thesis, Norwegian University of Science and Technology, Trondheim, Norway (2005).