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Volume 27 Issue 4
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2019  >  27(4): 452-458
YAO Jin-yi, ZENG Qing-jun, ZHOU Qi-run, ZHU Zhi-yu, BAO Ling-hui. Design and Implementation of a Path Tracking System for Fully Actuated AUV[J]. Journal of Unmanned Undersea Systems, 2019, 27(4): 452-458. doi: 10.11993/j.issn.2096-3920.2019.04.014
Citation: YAO Jin-yi, ZENG Qing-jun, ZHOU Qi-run, ZHU Zhi-yu, BAO Ling-hui. Design and Implementation of a Path Tracking System for Fully Actuated AUV[J]. Journal of Unmanned Undersea Systems, 2019, 27(4): 452-458. doi: 10.11993/j.issn.2096-3920.2019.04.014
shu

Design and Implementation of a Path Tracking System for Fully Actuated AUV

doi: 10.11993/j.issn.2096-3920.2019.04.014

  • School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China

  • Received Date: 2019-01-17
  • Rev Recd Date: 2019-03-29
  • Publish Date: 2019-08-31
    Abstract
  • Aiming at the application requirements for such as recovery, underwater search and rescue, and so on, a path tracking control system for fully actuated autonomous undersea vehicle(AUV) is proposed based on global positioning system(GPS), Doppler velocity log(DVL), optical fiber inertial navigation, depth gauge and waypoint tracking. The distributed system structure of AUV, the software design based on MOOS, the hardware design based on PC104 bus architecture are introduced according to the independently developed T-Sea I type AUV prototype. The principle of waypoint tracking and the navigation algorithm based on GPS, DVL, optical fiber inertial navigation and depth gauge are discussed, and then a proportion-integral-derivative(PID) path tracking controller is designed. Lake test of path tracking is carried out and the test curves are analyzed to verify the validity of the proposed method.

     

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