Browse > Article
http://dx.doi.org/10.14372/IEMEK.2015.10.4.257

A Way-Point Tracking of Hovering AUV by PID control  

Kim, Min J. (Pukyong National University)
Bae, Seol B. (Pukyong National University)
Baek, Woon-Kyung (Pukyong National University)
Joo, Moon G. (Pukyong National University)
Ha, Kyoung Nam (Korea Institute of Industrial Technology)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.10, no.4, 2015 , pp. 257-264 More about this Journal
Abstract
For the tracking of the way-points of hovering AUV (HAUV), we suggest a simple PID controller. The way-points are designed to approach to a virtual underwater structure and the heading angles at each way-point are set to look at the structure in the face. The proposed controller consists of a vertical controller to maintain the depth and pitch angle, and a horizontal controller to move to the desired position as well as to adjust the heading angle of the HAUV. In the simulation using Matlab/Simulink, the HAUV with the proposed PID controller is shown to track all the way-points within 1 m range while maintaining proper heading angle at each way-point.
Keywords
PID controller; Exponential filter; HAUV; Way-point tracking; Matlab/Simulink;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
연도 인용수 순위
1 B.H. Jun, P.M. Lee, Y.K. Lim, "Trends in the cruising-type AUVs technologies," Journal of the Korean Society for Precision Engineering, Vol. 26, No. 5, pp. 14-22, 2009 (in Korean).
2 F. Busby, J.R. Vadus, "Autonomous underwater vehicle R&D trends," Sea Technology, pp. 66-73, 1990.
3 M. Brady, L. Gerhardt, H. Davison, Arificial Intelligence and Robotics, Springer-Verlag, 1984.
4 T.I. Fossen, Guidance and Control of Ocean Vehicles, John Wiley and Sons, 1994.
5 T.I. Fossen, Marine Control System Guidance, Navigation, and Control of Ships, Marine Cybernetics, 2002.
6 P. Newman, "World AUV market forecast 2012-2016," Douglas Westwood, 2012.
7 S.B. Bae, D.H. Shin, M.G. Joo, "A depth control of hovering AUV using PD controller," Journal of KIIT, Vol. 12, No. 6, pp. 1-7, 2014 (in Korean).
8 S.T. Kwon, D.H. Shin, M.G. Joo, "Way-point tracking of AUV using sliding mode controller," Journal of KIIT, Vol. 10, No. 10, pp. 17-22, 2012 (in Korean).
9 D.H. Shin, S.B. Bae, W.K. Baek, M.G. Joo, "Way-point tracking of AUV using fuzzy PD controller," Journal of Korean Institute of Information Technology, Vol. 11, No. 5, pp. 1-7, 2013 (in Korean).
10 D.H. Shin, S.B. Bae, M.G. Joo, "Design and implementation of a hovering AUV with a rotatable-arm thruster," IEMEK J. Embed. Sys. Appl., Vol. 9, No. 3, pp. 165-171, 2014 (in Korean).   DOI
11 L. Lapierre, "Robust diving control of an AUV," Ocean Engineering, Vol. 36, Issue. 1, pp. 92-104, 2009.   DOI
12 J.H. Li, P.M. Lee, "Design of an adaptive nonlinear controller for depth control of an autonomous underwater vehicle," Ocean Engineering, Vol. 32, No. 17-18, pp. 2165-2181, 2005.   DOI
13 J.G. Lee, M.T. Roh, J.S. Lee, D.H. Lee, "Clonal selection algorithms for 6-DOF PID control of autonomous underwater vehicles," Proceedings of International Conference on Artificial Immune Systems, Vol. 4628, pp. 182-190, 2007.