dc.contributor.author | Degorre, Loick | |
dc.contributor.author | Fossen, Thor I. | |
dc.contributor.author | Delaleau, Emmanuel | |
dc.contributor.author | Chocron, Olivier | |
dc.date.accessioned | 2024-08-27T11:23:30Z | |
dc.date.available | 2024-08-27T11:23:30Z | |
dc.date.created | 2024-08-15T07:43:18Z | |
dc.date.issued | 2024 | |
dc.identifier.citation | IEEE Access. 2024, 12, 109822-109831. | en_US |
dc.identifier.issn | 2169-3536 | |
dc.identifier.uri | https://hdl.handle.net/11250/3148650 | |
dc.description.abstract | This work presents a novel method for 3-D path-following and path-tracking of Autonomous Underwater Vehicles (AUVs) using the concept of a Virtual Reference Point (VRP) and a kinematic guidance principle. The origins of the along-, cross- and vertical-track errors are proven globally exponentially stable (GES) using Lyapunov stability analysis. The kinematic guidance law exploits the design flexibility of a user-defined VRP in conjunction with a feedback linearizing controller. In addition, a novel concept called the Handy Matrix is introduced and applied to shape the kinematic equations such that the AUV’s non-actuated degrees of freedom (DOFs) can be controlled in a 3-D path-following scenario. The case study considers the Remus 100, a torpedo-shaped underactuated AUV, performing a 3-D path-following maneuver. The computer simulations show that the kinematic guidance law shows excellent tracking performance and stability even in the presence of ocean currents and white measurement noise. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.rights | Navngivelse 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/deed.no | * |
dc.title | A Virtual Reference Point Kinematic Guidance Law for 3-D Path-Following of Autonomous Underwater Vehicles | en_US |
dc.title.alternative | A Virtual Reference Point Kinematic Guidance Law for 3-D Path-Following of Autonomous Underwater Vehicles | en_US |
dc.type | Journal article | en_US |
dc.type | Peer reviewed | en_US |
dc.description.version | publishedVersion | en_US |
dc.source.pagenumber | 109822-109831 | en_US |
dc.source.volume | 12 | en_US |
dc.source.journal | IEEE Access | en_US |
dc.identifier.doi | 10.1109/ACCESS.2024.3440659 | |
dc.identifier.cristin | 2286572 | |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |