어뢰형 무인잠수정의 수평면 경로추종 제어

Abstract

This paper considers the path tracking problem in cruising (or horizontal) plane for a type of underactuated (or non-holonomic) autonomous underwater vehicles (AUVs). One of the important applications of AUVs is the mapping of the seabed, in this work accurate information gathering should be performed to achieve resonable mapping results. To gather reasonably accurate information AUVs should have good performance of path tracking. In this paper resolved motion and acceleration control(RMAC) is considered as a path tracking controller for underactuated torpedo-shape AUV, ISiMi. A set of numerical simulation is carried out to illustrate the effectiveness of the proposed RMAC scheme. And experimental data with ISiMi-100 and discussions are presented in this paper.