A Virtual Reference Point Kinematic Guidance Law for 3-D Path-Following of Autonomous Underwater Vehicles

Loïck Degorre; Thor Fossen; Emmanuel Delaleau; Professor Celestine Iwendi; Olivier Chocron

doi:10.1109/ACCESS.2024.3440659

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A Virtual Reference Point Kinematic Guidance Law for 3-D Path-Following of Autonomous Underwater Vehicles

Journal article

Open access

Peer reviewed

A Virtual Reference Point Kinematic Guidance Law for 3-D Path-Following of Autonomous Underwater Vehicles

Loïck Degorre, Thor Fossen, Emmanuel Delaleau, Professor Celestine Iwendi and Olivier Chocron

IEEE access, Vol.12, pp.109822-109831

19/08/2024

DOI: https://doi.org/10.1109/ACCESS.2024.3440659

Abstract

Automatic Control Engineering

Autonomous underwater vehicles,

guidance systems

kinematic control

path following

underactuated system

Computer Science

This work presents a novel method for 3-D path-following and path-tracking of Autonomous Underwater Vehicles (AUVs) using the concept of a Virtual Reference Point (VRP) and a kinematic guidance principle. The origins of the along-, cross- and vertical-track errors are proven globally exponentially stable (GES) using Lyapunov stability analysis. The kinematic guidance law exploits the design flexibility of a user-defined VRP in conjunction with a feedback linearizing controller. In addition, a novel concept called the Handy Matrix is introduced and applied to shape the kinematic equations such that the AUV’s nonactuated degrees of freedom (DOFs) can be controlled in a 3-D path-following scenario. The case study considers the Remus 100, a torpedo-shaped underactuated AUV, performing a 3-D path-following maneuver. The computer simulations show that the kinematic guidance law shows excellent tracking performance and stability even in the presence of ocean currents and white measurement noise.

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Title: A Virtual Reference Point Kinematic Guidance Law for 3-D Path-Following of Autonomous Underwater Vehicles
Creators - without role: Loïck Degorre
Thor Fossen - Norwegian University of Science and Technology
Emmanuel Delaleau - École nationale d'ingénieurs de Brest
Professor Celestine Iwendi - University of Greater Manchester, Computing
Olivier Chocron - École nationale d'ingénieurs de Brest
Publication Details: IEEE access, Vol.12, pp.109822-109831
Publisher: IEEE
Number of pages: 10
Grant note: This work was supported in part by the ISblue Project, Interdisciplinary Graduate School for the Blue Planet, under Grant ANR-17-EURE-0015; and in part by French Government Grant through the Program ‘‘Investissements d’Avenir.’’ The work of Loïck Degorre was supported in part by Région Bretagne under Grant 0311/COH20007/00019559, and in part by Brest Métropole.
Identifiers: 9921073608841; 2169-3536; 2169-3536; 2169-3536
Copyright: Copyright 2024 The Authors. This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/
Academic Unit: Computing
Language: English
Resource Type: Journal article
Electronic publication date: 08/08/2024
Date accepted: 02/08/2024

A Virtual Reference Point Kinematic Guidance Law for 3-D Path-Following of Autonomous Underwater Vehicles

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