Vehicle Guidance and Control Along Circular Trajectories

Abstract

The problem of path keeping of marine vehicles along curved paths is considered. In particular, we are concerned with circular arcs that join two consecutive straight line segments. This provides smooth path changes between one segment and the next utilizing a purely geometric reference path construction. Pure pursuit guidance is coupled with orientation angle control law to ensure stability and accuracy. Sensitivity analysis with respect to inaccuracies in the knowledge of the vehicle hydrodynamic characteristics is performed. The results demonstrate the validity of this approach and offer a way to achieve accurate path keeping in confined spaces.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1992
Accession Number
ADA257570

Entities

People

  • Dimitrios A. Simakis

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • C4I
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Automatic Pilots
  • Autonomous Underwater Vehicles
  • Classification
  • Differential Equations
  • Engineering
  • Equations
  • Equations Of Motion
  • Experimental Data
  • Geometry
  • Guidance
  • Mechanical Engineering
  • Resonant Frequency
  • Stability Conditions
  • Three Dimensional
  • Underwater Vehicles
  • Unmanned Vehicles
  • Vehicles

Readers

  • Applied Combinatorial Optimization and Logic Circuit Design.
  • Control Systems Engineering.
  • Systems Analysis and Design

Technology Areas

  • Space
  • Space - Orbital Debris
  • Space - Spacecraft Maneuvers