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Acta Armamentarii ›› 2017, Vol. 38 ›› Issue (6): 1147-1153.doi: 10.3969/j.issn.1000-1093.2017.06.014

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Horizontal Trajectory Tracking Control of Autonomous Underwater Vehicle Based on Seabed Optical Detection Mission

MA Yan-tong1,2, ZHENG Rong1, HAN Xiao-jun1   

  1. (1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, Liaoning, China; 2.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, Liaoning, China)
  • Received:2016-10-11 Revised:2016-10-11 Online:2017-12-15

Abstract: Autonomous underwater vehicles (AUVs) need to be provided with more accurate navigation control due to the limited operating range of optical detection device for detecting the seabed. An improved bilayer PID control algorithm which is independent of the object model is proposed. By controlling the channel propellers which are retrofitted to flanks around AUV, the controller can achieve AUV precise navigation control at low speed. The controller consists of two layers: the inner layer is a PID controller for distance deviation computation, which converts the output to desired deflection angle; the outer layer is a PID controller which computes the desired thrust and torque by inputting the output value of inner layer. The horizontal navigation precision can be reflected by tracking the planned detection route. The precise tracking path was obtained in lake trial. The mean value of course angular deviation is 0.09 °, and the mean square errors of deviation from the course is 0.29 m, which verifies the feasibility of the control scheme. Key

Key words: controlscienceandtechnology, autonomousunderwatervehicle, seabedopticaldetection, improvedPID, trajectorytracking, horizontalpropeller

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