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 Bibliografske baze podataka

Pregled bibliografske jedinice broj: 456374

Časopis

Autori: Mišković, Nikola; Nađ, Đula; Vukić, Zoran
Naslov: 3D Line Following for Unmanned Underwater Vehicles
Izvornik: Brodogradnja : časopis brodogradnje i brodograđevne industrije (0007-215X) 61 (2010), 2; 121-129
Vrsta rada: članak
Ključne riječi: control ; line following ; marine vehicles ; unmanned underwater vehicles
Sažetak:
When designing guidance controllers for unmanned underwater vehicles, an assumption is often made that the vessel operates at a constant depth. However, in many applications the desired depth often changes with the position of the vessel in the horizontal plane. This paper addresses the problem of three dimensional line following with application to underactuated underwater vehicles. The problem is resolved by separating the desired line into two components. The main contribution of this paper is the design of 3D line following controllers for underactuated underwater vehicles. The control design is based on constant controlled surge speed and a simplified decoupled model of an underwater vehicle. Detailed design procedure is presented. The simulation results are obtained from a complex, coupled model, which proves that the proposed algorithm can be used on real vehicles.
Projekt / tema: 036-0362975-2999
Izvorni jezik: ENG
Rad je indeksiran u
bazama podataka:
Scopus
SCI-EXP, SSCI i/ili A&HCI
Science Citation Index Expanded (SCI-EXP) (sastavni dio Web of Science Core Collectiona)
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika
Puni text rada: 456374.673-prijelom-Miskovic.pdf (tekst priložen 16. Srp. 2010. u 11:42 sati)
URL cjelovitog teksta:
Google Scholar: 3D Line Following for Unmanned Underwater Vehicles
Upisao u CROSBI: nmiskovic@fer.hr (nmiskovic@fer.hr), 30. Ožu. 2010. u 15:32 sati



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