To provide a path tracking control method in an underwater glider vector field capable of more smoothing a path tracking course of an underwater glider, reducing the risk during the operation of the underwater glider, and improving path tracking performance of the underwater glider.SOLUTION: A path tracking control method in an underwater glider vector field includes the steps of: creating an underwater glider movement model and setting a desired path and a desired speed; parameterizing the desired path and acquiring information of the parameterized desired path; acquiring position information of a virtual reference point on the basis of the information of the parameterized desired path and calculating a path tracking error between the virtual reference point and the actual position of the underwater glider; acquiring guidance vector field information on the basis of the information of the parameterized desired path and calculating a guidance angular velocity of the underwater glider on the basis of the guidance vector field information and the actual position of the underwater glider; calculating a forward speed of the underwater glider on the basis of the desired speed and the longitudinal path tracking error in the path tracking errors; and sailing the underwater glider according to the guidance angular speed and the forward speed.SELECTED DRAWING: Figure 1

    【課題】水中グライダの経路追跡のコースをより滑らかにし、水中グライダの動作中のリスクを低減し、水中グライダの経路追跡性能を向上させる。【解決手段】水中グライダのベクトル場における経路追跡の制御方法において、水中グライダの運動モデルを作成し、所望経路と所望速度を設定し、所望経路をパラメータ化して、パラメータ化された所望経路の情報を取得し、パラメータ化された所望経路の情報に基づいて、仮想基準点の位置情報を取得し、仮想基準点と水中グライダの実際位置との間の経路追跡誤差を計算し、パラメータ化された所望経路の情報に基づいて、誘導ベクトル場情報を取得し、誘導ベクトル場情報と水中グライダの実際位置に基づいて水中グライダの誘導角速度を計算し、所望速度と経路追跡誤差における縦方向の経路追跡誤差に基づいて、水中グライダの前進速度を計算し、水中グライダが誘導角速度と前進速度によって航行することを含む。【選択図】図1


    Access

    Download


    Export, share and cite



    Title :

    PATH TRACKING CONTROL METHOD IN UNDERWATER GLIDER VECTOR FIELD


    Additional title:

    水中グライダのベクトル場における経路追跡の制御方法


    Contributors:
    WANG HAOLIANG (author) / LIU LU (author) / GU NAN (author) / PENG ZHOUHUA (author) / WANG TAN (author) / WANG ANQING (author) / LU LIYU (author) / YIN CHENYANG (author) / TONG SHIHAO (author)

    Publication date :

    2024-09-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



    UNDERWATER GLIDER

    CHOI HYEUNG SIK / HA JI HOON / JEON JI HYE et al. | European Patent Office | 2016

    Free access

    Underwater glider

    ALLUM RONALD CHARLES / LAVERY ALAN MIGUEL / JOHNSTON MATTHEW GLEN | European Patent Office | 2024

    Free access

    Underwater glider

    ALLUM RONALD CHARLES / LAVERY ALAN MIGUEL / JOHNSTON MATTHEW GLEN | European Patent Office | 2022

    Free access

    Underwater glider motion control

    Mahmoudian, N. / Woolsey, C. | Tema Archive | 2008


    Underwater glider

    European Patent Office | 2019

    Free access