A Novel Approach to Model and Implement Planar Trajectory-Tracking Controllers for AUVs/ASVs

作者:N., Dong; N.H., Nam; K.M., Tuan; N.V., Hien
来源:Advanced Materials Research, 2014, 1016: 686-693.
DOI:10.4028/www.scientific.net/amr.1016.686

摘要

<jats:p>Following the Model-Driven Architecture (MDA) approach, we have modeled and implemented a planar trajectory planning and tracking controller designed for Autonomous Underwater Vehicles or Autonomous Surface Vessels (AUVs/ASVs). Our approach covers steps such as the requirement, analysis, design and implementation to model and realize a controller for most standard AUV/ASV platforms. It also allows the designed elements to be customizable and re-usable in the development of new applications of AUV/ASV controllers. The paper describes step-by-step the development lifecycle of planar trajectory-tracking controller for AUVs/ASVs. Based on this approach, a horizontal trajectory-tracking controller of a miniature autonomous submerged vehicle is completely developed and successfully taken on trial trip.</jats:p>

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