Three Dimensional Guidance for the NPS Autonomous Underwater Vehicle

Abstract

The Naval Postgraduate School is currently conducting research in the area of autonomous underwater vehicles. In support of this research, the school has developed a testbed vehicles and graphic simulation. One of the major thrusts of the project is the development of a control system. This work explores the implementation and testing of a guidance scheme proposed by Kanayama called spatial tracking. The method is evaluated with and without consideration for AUV dynamics. Spatial tracking is also compared with an earlier guidance scheme attributed to Kanayama known as cross track guidance. The NPS AUV testbed vehicle and simulator are also described within this work.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1991
Accession Number
ADA246148

Entities

People

  • Christopher Magrino

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Autonomous Systems
  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Computer Science
  • Computers
  • Control Panels
  • Control Surfaces
  • Control Systems
  • Guidance
  • Remotely Piloted Vehicles
  • Simulations
  • Simulators
  • Three Dimensional
  • Underwater Vehicles
  • United States
  • Unmanned Systems
  • Vehicles

Readers

  • Computational Modeling and Simulation
  • Robotics and Automation.