Title :
Experimental verification for the control system of intelligent underwater vehicle
Author :
Pang, Yongjie ; Peng, Liang ; Xu, Yuru ; Gu, Guochang
Author_Institution :
Dept. of Naval Archit. & Ocean Eng., Harbin Eng. Univ., China
Abstract :
This paper introduces an intelligent underwater vehicle and describes the architecture of the control system, especially the mission execution module. An artificial neural network is used to deal with the nonlinear dynamics of underwater vehicle and the unpredictable disturbances. Performances of the system on motion control, autonomous navigation and obstacle avoidance were tested by a series of experiments in a lake. The results show that the performance of the system was stable and reliable
Keywords :
feedforward neural nets; intelligent control; marine systems; motion control; navigation; neurocontrollers; nonlinear dynamical systems; path planning; control system; feedforward neural network; intelligent underwater vehicle; mission execution module; motion control; navigation; nonlinear dynamics; obstacle avoidance; Artificial intelligence; Artificial neural networks; Control systems; Intelligent control; Intelligent systems; Intelligent vehicles; Nonlinear dynamical systems; Performance evaluation; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Underwater Technology, 1998. Proceedings of the 1998 International Symposium on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-4273-9
DOI :
10.1109/UT.1998.670161
