A 3D trajectory tracking algorithm for AUV

This paper mainly studies the trajectory tracking problem of six-degree-of-freedom AUV in seafloor three-dimensional space. The mathematical model of AUV is established, the trajectory guidance law is designed by LOS method, the speed and rudder force are compensated by adding PID controller, and th...

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Veröffentlicht in:	Journal of physics. Conference series 2021-04, Vol.1873 (1), p.12055
Hauptverfasser:	Li, Wenkui, Zhou, Zhu, Lou, Jianlu, Zhang, Xuguang
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Control stability Guidance (motion) Ocean floor Physics Proportional integral derivative Rudders Stability criteria Straight lines Tracking problem
Online-Zugang:	Volltext
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