Guidance and control of an ASV in AUV tracking operations

• Type: Article in International Conference Proceedings Book
• Date: 2008

Authors

José Melo (Author) Other; Aníbal Matos (Author) FEUP

Conference proceedings International

Title: OCEANS 2008, VOLS 1-4

Pages: 1359-1365

OCEANS 2008 Conference

Quebec City, CANADA, SEP 15-18, 2008

Indexing

ISI Proceedings

ISI Web of Knowledge - 0 Citations

Scopus - 19 Citations

INSPEC

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-004-4A8

DOI: 10.1109/oceans.2008.5152003

Abstract (EN): The following addresses the control of an Autonomous Surface Vehicle (ASV) to follow the trajectory made by an Autonomous Underwater Vehicle (AUV) when the last is performing any given pre-programmed mission. In fact, it has been proved to be of great interest to have an ASV that could follow on the surface and even catch up the trajectory performed by the AUV, when executing a given mission. In order to achieve this desired coordinated motion between AUV and ASV, it would make sense just to program each of the vehicles with the same mission. However, due to the nature of vehicles, missions and also due to the localization system used, with this kind of solution some problems would arise, namely related with timings and synchronization, which are indeed difficult to overcome. The solution proposed here tries to estimate the AUV position, by tapping the signals exchanged between the former and each of the beacons of the acoustic localization network, and control and actuate the ASV in accordance.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7