Mine Avoidance and Localization for Underwater Vehicles Using Continuous Curvature Path Generation and Non-Linear Tracking Control.

摘要

Many underwater vehicles have been designed to follow a straight path using linear approximations about that path. Tracking a dynamic path of arbitrary but continuous curvature may often be desired. This will require a nonlinear controller with enhanced robustness properties. One point of this thesis is to show how nonlinear control using sliding modes may be applied to follow a dynamic path. In a mine warfare setting using Autonomous Underwater Vehicles (AUVs), reflexive maneuvers will be required for nine avoidance. This thesis presents one way in which paths for mine avoidance maneuvers may be generated automatically and used as inputs to the nonlinear tracking control system of the vehicle. It has been shown through simulation that a random minefield can be traversed by an AUV while localizing and avoiding detected mines using these control concepts. Mine avoidance and localization, Autonomous Underwater Vehicles (AUV), Autopilot and guidance of AUV 11, Sliding mode control.