Model-validation and implementation of a path-following algorithm in an autonomous underwater vehicle
Villa, Jose; Vallicrosa, Guillem; Aaltonen, Jussi; Ridao, Pere; Koskinen, Kari T. (2021-12)
Koskinen, Kari T.
12 / 2021
Julkaisun pysyvä osoite on
This article studies the design, modeling, and implementation of a path-following algorithm as a guidance, navigation, and control (GNC) architecture for an autonomous underwater vehicle (AUV). First, a mathematical model is developed based on nonlinear equations of motion and parameter estimation techniques, including the model validation based on field test data. Then, the guidance system incorporates a line-of-sight (LOS) algorithm with a combination of position PID controllers. The GNC architecture includes a modular and multi-layer approach with an LOS-based, path-following algorithm in the AUV platform. Furthermore, the navigation used in the path-following algorithm is developed based on a predefined coverage area. Finally, this study addresses simulation and field test control scenarios to verify the developed GNC architecture.
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