This paper focuses on safe navigation of an unmanned surface vehicle in proximity to a submerged autonomous underwater vehicle so as to maximise short-range, through-water data transmission while minimising the probability that the two vehicles will accidentally collide. A sliding mode navigation law is developed, and a rigorous proof of optimality of the proposed navigation law is presented. The developed navigation algorithm is relatively computationally simple and easily implementable in real time. Illustrative examples with extensive computer simulations demonstrate the effectiveness of the proposed method.
Optimal Navigation of an Unmanned Surface Vehicle and an Autonomous Underwater Vehicle Collaborating for Reliable Acoustic Communication with Collision Avoidance
2022
Aufsatz (Zeitschrift)
Elektronische Ressource
Unbekannt
Metadata by DOAJ is licensed under CC BY-SA 1.0
Autonomous underwater vehicle collision avoidance for under-ice exploration
Online Contents | 2008
|Autonomous underwater vehicle collision avoidance for under-ice exploration
SAGE Publications | 2008
|Autonomous underwater vehicle collision avoidance for under-ice exploration
British Library Conference Proceedings | 2008
|