Guidance-Control Based Path Following for Homing and Docking using an Autonomous Underwater Vehicle

Abstract

This paper considers the control and guidance based path following strategy for homing and docking tasks using an autonomous underwater vehicle. The vector field based on a conventional artificial potential field method gives a desired trajectory using existing information from ocean network sensors. An integrated sliding mode control approach is introduced providing a robustness of motion control. A well structured Line- of-Sight method is used for an autonomous underwater vehicle to follow the path. An optimal trajectory is done by calculating the optimal way-point passing through all of the pitch and yaw angles. The proposed approach provides a guidance-control based for the vehicle to follow the predefined path to a required position with final desired orientation at the docking platform. The simulation results in 2D and 3D docking preparation manoeuvres are shown.