| dc.description.abstract | Performance for autonomous docking algorithm of Autonomous Underwater Vehicle(AUV)
to the towed docking station has been done. While affected by external disturbance, cur-
rent, the AUV finds its path to the docking station with control, guidance nodes. The
simulation was done by ROS, and Gazebo for the visualization. LAUV was used for the
LAUV, and towed docking station model from the company named EIVA.
Introduction of underwater vehicle and its technology are written down. Also theories
behind is explained from the basic parts such as mathematical equations, kinetics and
kinematics. Equations in detail are described on the appendix. Theory of Control and
Guidance module is also explained for better understanding of reading, furthermore or-
ganizaing my thoughts and what I have learned during my master’s degree program.
This thesis is focusing on the Control and Guidance module except Navigation module.
For the controller, PID control and backstepping controller. ILOS guidance theory is
used for finding its path.
Results from simulation show that used control and guidance law are working well while
there is external disturbances. It also implies there can be more improvement for accurate
operation in Discussions chapter | |