Underwater Structure Profile Following Controller for Unmanned Vehicles

摘要

This study addresses the problem of designing a guidance and waypoint tracking controller for unmanned underwater vehicles that takes into account the reference path ahead of the vehicle. The guidance system is designed based on the definition of an orientation error which is to be driven to zero by a heading controller. An analysis of the dynamic characteristics of guidance coupled with orientation control law has been presented. There exists a critical waypoint distance for stability of vehicle motion. Moreover, an algorithm developed to build the waypoint commands has been proposed based on measurements of the echo-sounder mounted ahead of the vehicle. Finally, the control system was tested by sea trials using an unmanned underwater vehicle. The experimental results demonstrated a high-performance waypoint tracking robotic system for underwater structure inspection.