DocumentCode
635627
Title
Navigation and control of an AUV affected by asymmetric thruster response
Author
Vincenzo, Calabro ; Francesco, Di Corato ; Piaggio, Centro E. ; Andrea, C.
Author_Institution
Cybern. R&DGroup, Kongsberg Maritime AS, Kongsberg, Norway
fYear
2013
fDate
10-14 June 2013
Firstpage
1
Lastpage
5
Abstract
This paper presents a set of navigation, control and allocation algorithm suitable for underwater vehicles equipped with inertial measurement unit, underwater positioning systems and fixed thrusters with asymmetric response. All the algorithms are detailed in this document together with simulation results and comments. Low computational demand and well-established methods make the proposed combination of navigation, guidance and control system suitable for reliable AUV operations.
Keywords
autonomous underwater vehicles; inertial systems; position control; AUV control; AUV navigation; allocation algorithm; asymmetric thruster response; fixed thrusters; inertial measurement unit; underwater positioning systems; underwater vehicles; Equations; Estimation; Mathematical model; Navigation; Resource management; Sensors; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS - Bergen, 2013 MTS/IEEE
Conference_Location
Bergen
Print_ISBN
978-1-4799-0000-8
Type
conf
DOI
10.1109/OCEANS-Bergen.2013.6608080
Filename
6608080
Link To Document