Search

Autonomous underwater vehicles (AUV) represents a topic of great interest to the scientific community worldwide. The guidance system is vital for the development of tasks without human intervention. In this research is designed a type PI controller for tracking paths straight from the HRC-AUV (vehicle used in this research), reducing the tracking error perpendicular to the path despite the effect of sea disturbances. The adjustment of gains of the controller is made based on the geometry of the way forward and the characteristics of the vehicle. The validity of the proposal is found through simulation, which is confirmed that the controller ILOS performance exceeds that of the strategy is implemented at present in the vehicle. [ABSTRACT FROM AUTHOR]

The development of autonomous vehicles is a subject of great interest in the international scientific community. For the accomplishment of missions without human intervention it is vitally to have an algorithm or guiding law. In this paper we present the results obtained by simulation with the guidance algorithm based on distance L1, during the tracking of straight and circular paths by an autonomous aerial vehicle (UAV). The algorithm produces a lateral acceleration command that is interpreted by the balancing controller to achieve convergence to the path. The results of the simulation demonstrate the good performance of the algorithm, for both straight and circular paths. [ABSTRACT FROM AUTHOR]