AUV Docking Experiment and Improvement on Tracking Control Algorithm

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 海洋信息技术装备中心

	AUV Docking Experiment and Improvement on Tracking Control Algorithm
	Lv HQ(吕厚权)2,3; Zheng R(郑荣)3 ; Guo JQ(国婧倩)1; Wei AB(魏奥博)2,3
	2018
会议日期	August 11-13, 2018
会议地点	Wuyishan, China
关键词	AUV docking path tracking fuzzy pid
页码	220-224
英文摘要	Autonomous Underwater Vehicle(AUV) docking technology has now extensively attracted the attention of scholars. Additionally, the ability of the vehicle to return precisely to the docking station is critical for data return, battery charging or AUV recovery. This study presents a docking system, including configuration of the AUV and the docking station, based on acoustic positioning technology. The positioning method of USBL acoustic positioning system is described. Then, introduces the path tracking control algorithm for docking, combined with trial data collected in experiments performed at lake, the defect of this tracking algorithm is analysed . For the successful completion of the future sea docking test and dynamic docking test ,an improved tracking control method is designed using PID algorithm whose parameters obey adaptive fuzzy adjustment, the lateral deviation and heading error are taken into consideration to calculate tracking control input. Simulation results demonstrate that this improved tracking control method is able to fulfill the purpose of path tracking.
产权排序	1
会议录	Proceeding of the 2018 IEEE International Conference on Information and Automation
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-8069-8
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23781]
专题	沈阳自动化研究所_海洋信息技术装备中心
通讯作者	Lv HQ(吕厚权)
作者单位	1.Department of Mechanical and Automation, Northeastern University, Shenyang, Liaoning 110819 China 2.University of Chinese Academy of Sciences, Beijing 100049 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Liaoning 110016 China
推荐引用方式 GB/T 7714	Lv HQ,Zheng R,Guo JQ,et al. AUV Docking Experiment and Improvement on Tracking Control Algorithm[C]. 见:. Wuyishan, China. August 11-13, 2018.