On-board sensor-based adaptive control of small UUVs in very shallow waters

Authors
Nie, J Yuh, J Kardash, E Fossen, TI
Citation
J. Nie et al., On-board sensor-based adaptive control of small UUVs in very shallow waters, INT J ADAPT, 14(4), 2000, pp. 441-452
Citations number
16
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
ISSN journal
08906327 → ACNP
Volume
14
Issue
4
Year of publication
2000
Pages
441 - 452
Database
ISI
SICI code
0890-6327(200006)14:4<441:OSACOS>2.0.ZU;2-L
Abstract
This paper presents a technique to localize the vehicle with respect to kno wn landmarks using on-board navigation sensors, overcoming uncertainities i n vehicle dynamics and its operating environment. Results of computer simul ation and pool experimentation are presented. Those results show that the s ystem is capable of controlling the vehicle with high accuracy using the es timated position and velocity from the on-board sensor-based navigation sys tem. Copyright (C) 2000 John Wiley & Sons, Ltd.