Title :
Path following algorithm for minimally specified lawn-mower type AUV missions
Author_Institution :
ATSA, Thornton, NSW, Australia
Abstract :
This paper describes a simple online target point generator algorithm that allows for minimal specification of Autonomous Underwater Vehicle (AUV) missions. The mission pattern is specified through the spatial coordinates of its corners only, requiring minimal mission information storage in order to execute a mission. To follow the mission path the algorithm generates intermediate target points along the desired trajectory based on the current estimated position of the AUV. The performance of the algorithm when implemented and tested in a real AUV is reported.
Keywords :
information storage; lawnmowers; position control; remotely operated vehicles; underwater vehicles; AUV missions; autonomous underwater vehicle missions; minimal mission information storage; minimally specified lawn-mower; mission pattern; online target point generator algorithm; path following algorithm; position estimation; trajectory; Algorithm design and analysis; Current measurement; Generators; Navigation; Sea measurements; Trajectory; Vehicles;
Conference_Titel :
OCEANS 2010 IEEE - Sydney
Conference_Location :
Sydney, NSW
Print_ISBN :
978-1-4244-5221-7
Electronic_ISBN :
978-1-4244-5222-4
DOI :
10.1109/OCEANSSYD.2010.5603826
