This work develops a control system for the waypoint-tracking of a BAUV (biomimetic autonomous underwater vehicle). The BAUV swims forward by oscillating its body and caudal fin. It turns by bending its body and caudal fin toward the turning direction. The control algorithm uses the oscillating frequency to control the forward velocity, and applies a body-spline offset parameter to control the heading velocity. The motion of the BAUV is undulatory, so moving averages of swimming velocity and heading errors are used as feedback signals. The stability of the control system is discussed using a Lyapunov function. Finally, the effectiveness of the control algorithm is experimentally confirmed.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A waypoint-tracking controller for a biomimetic autonomous underwater vehicle


    Additional title:

    Steuerungseinrichtung für die Steuerung der Bewegungsbahn für ein biomimetisches autonomes Unterwasserfahrzeug


    Contributors:
    Guo, Jenhwa (author)

    Published in:

    Ocean Engineering ; 33 , 17-18 ; 2369-2380


    Publication date :

    2006


    Size :

    12 Seiten, 14 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Waypoint tracking apparatus of autonomous underwater system and method thereof

    KIM DO WAN | European Patent Office | 2016

    Free access

    A waypoint tracking controller for autonomous road vehicles using ROS framework

    Gutiérrez, Rodrigo / López Guillén, Elena / Bergasa, Luis M. et al. | BASE | 2020

    Free access

    A Waypoint Tracking Controller for Autonomous Vehicles Using CARLA Simulator

    Srinivas, Chinmay / Patil, Sharanbassappa S. | Springer Verlag | 2022


    A waypoint tracking controller for autonomous road vehicles using ROS framework

    Gutiérrez, Rodrigo / López Guillén, Elena / Bergasa, Luis M. et al. | BASE | 2020

    Free access

    Architecture of Software for Biomimetic Autonomous Underwater Vehicle

    Praczyk, Tomasz | Trans Tech Publications | 2016