A 2d Homing Strategy for Autonomous Underwater Vehicles
نویسندگان
چکیده
This paper presents a new sensor based integrated guidance and control law to solve the homing problem of an underactuated autonomous underwater vehicle (AUV), in the horizontal plane, using the information provided by an Ultra-Short Base Line (USBL) positioning system. Global asymptotic stability (GAS) is achieved in the presence (and absence) of constant known ocean currents and simulation results are provided to illustrate the performance and behavior of the overall closed loop system.
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