Docking problem and guidance laws considering drift for an underactuated AUV
Docking problem and guidance laws considering drift for an underactuated AUV
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DOI：
10.1109/oceans-spain.2011.6003574
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发表时间：
2011-06
期刊：
影响因子：
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通讯作者：
Jin-Yeong Park;B. Jun;Pan-Mook Lee;Yong-Kon Lim;Jun-Ho Oh
中科院分区：
文献类型：
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作者：
Jin-Yeong Park;B. Jun;Pan-Mook Lee;Yong-Kon Lim;Jun-Ho Oh
在过去的二十年中，已经开发出各种配置的水下对接站。在本文中，建议了五个参数来指定扩展坞的特性。然后，我们使用五个参数来描述对接问题。考虑了欠驱动 AUV（自主水下航行器）对接的单向方法，并介绍了洋流引起的漂移的影响。为了补偿这种影响，设计了改进的线性终端制导和时变洋流观测器。还包括模拟研究。
Various configurations of underwater docking stations have been developed during the last two decades. In this paper, five parameters are suggested to specify characteristics of the docking stations. And then, we describe docking problem using the five parameters. Unidirectional approach for docking of an under-actuated AUV (Autonomous Underwater Vehicle) is considered and effects of drift caused by ocean currents are introduced. To compensate the effect, modified linear terminal guidance and a time-varying ocean current observer were designed. Simulation studies are also included.