Pure Pursuit Guidance and Model Predictive Control of an Autonomous Underwater Vehicle for Cable/Pipeline Tracking
نویسندگان
چکیده
This paper investigates a new approach for the guidance and control of an autonomous underwater vehicle (AUV). An integrated system is developed and simulated involving a proportional navigation guidance (PNG) law and model predictive control (MPC). The classical PNG law for missile systems has been tailored to guide the AUV by generating reference headings. MPC is used to track the reference trajectory (guidance commands), which is optimised using a genetic algorithm (GA). The performance of the closed loop system is evaluated in simulations with and without sea current disturbance and imposing actuator constraints. Simulation results for the case of a cable tracking mission and waypoint following clearly shows the superiority of the proposed algorithm.
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