In the context of autonomy for underwater vehicles, we assume that a usual suite of feedback controllers are present in the form of autopilot functions that provide for the regulation of vehicle speed, heading, and depth or altitude. In this chapter, we consider the topic of Guidance Laws, Obstacle Avoidance and the use of Artificial Potential Functions (APFs). This topic deals with the computations required to plan and develop paths and commands, which are used by these auto-pilots. Simple guidance laws such as proportional guidance have been used for many years in missiles to provide interception with targets. Lateral accelerations are commanded proportional to the rate of change of line of sight. So long as the chaser vehicle has a speed advantage over the non-maneuvering target, simply reducing the angle of line.
Guidance Laws, Obstacle Avoidance, Artificial Potential Functions (Preprint)
2006
36 pages
Report
Keine Angabe
Englisch
Computers, Control & Information Theory , Navigation Systems , Underwater vehicles , Automatic pilots , Line of sight , Missions , Marine navigation , Unmanned , Autonomous navigation , Apf(Artificial potential functions) , Guidance laws , Mission objectives , Obstacle avoidance , Vehicle steering model , Cross track error , Track following
A guaranteed obstacle avoidance guidance system
British Library Online Contents | 2012
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