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http://dx.doi.org/10.6109/jkiice.2020.24.11.1417

Development of AUV's Waypoint Guidance Law and Verification by HILS  

Hwang, Jong-Hyon (Maritime R&D Center, LIG Nex1 Co., Ltd)
Yoo, Tae-Suk (Maritime R&D Center, LIG Nex1 Co., Ltd)
Han, Yongsu (Global Business Development, LIG Nex1 Co., Ltd)
Kim, Hyun Wook (Maritime R&D Center, LIG Nex1 Co., Ltd)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.24, no.11, 2020 , pp. 1417-1423 More about this Journal
Abstract
This paper proposes a waypoint guidance algorithm for the Autonomous Underwater Vehicle(AUV). The proposed simplified guidance algorithm is presented, which is combined LOS guidance and cross-track guidance for path following. Cross-track error is calculated using the position of the AUV and reference path. LOS guidance and cross-track guidance are appropriately changed according to cross-track error. And the stability of the system has been improved using variable cross-track control gain by cross-track error. Also, in this paper, navigation hardware in-the loop simulation(HILS) is implemented to verify navigation algorithm of AUV that performs combined navigation using inertial navigation device and doppler velocity log(DVL). Finally, we design integrated system HILS (including navigation HILS) for performance verification of guidance algorithm of the autonomous underwater vehicle. By comparing the sea test result with HILS result, the proposed guidance algorithm and HILS configuration were confirmed be correct.
Keywords
AUV(Autonomous Unmanned Vehicle); Waypoint guidance; HILS(Hardware In-the Loop Simulation); LOS(Line Of Sight);
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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