A Novel Approach to Model and Implement Planar Trajectory-Tracking Controllers for AUVs/ASVs
Following the Model-Driven Architecture (MDA) approach, we have modeled and implemented a planar trajectory planning and tracking controller designed for Autonomous Underwater Vehicles or Autonomous Surface Vessels (AUVs/ASVs). Our approach covers steps such as the requirement, analysis, design and implementation to model and realize a controller for most standard AUV/ASV platforms. It also allows the designed elements to be customizable and re-usable in the development of new applications of AUV/ASV controllers. The paper describes step-by-step the development lifecycle of planar trajectory-tracking controller for AUVs/ASVs. Based on this approach, a horizontal trajectory-tracking controller of a miniature autonomous submerged vehicle is completely developed and successfully taken on trial trip.
Dashnor Hoxha, Francisco E. Rivera and Ian McAndrew
N. Dong et al., "A Novel Approach to Model and Implement Planar Trajectory-Tracking Controllers for AUVs/ASVs", Advanced Materials Research, Vol. 1016, pp. 686-693, 2014