A Novel Approach to Model and Implement Planar Trajectory-Tracking Controllers for AUVs/ASVs


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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.



Edited by:

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

Online since:

August 2014




* - Corresponding Author

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