Guidance Laws, Obstacle Avoidance, Artificial Potential Functions (Preprint)

Abstract

In the context of autonomy for underwater vehicles, we assume that a usual suite of feedback controllers are present in the form of autopilot functions that provide for the regulation of vehicle speed, heading, and depth or altitude. In this chapter, we consider the topic of Guidance Laws, Obstacle Avoidance and the use of Artificial Potential Functions (APFs). This topic deals with the computations required to plan and develop paths and commands, which are used by these auto-pilots. Simple guidance laws such as proportional guidance have been used for many years in missiles to provide interception with targets. Lateral accelerations are commanded proportional to the rate of change of line of sight. So long as the chaser vehicle has a speed advantage over the non-maneuvering target, simply reducing the angle of line.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 2006
Accession Number
ADA474852

Entities

People

  • Anthony J. Healey

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Collision Avoidance
  • Detection
  • Guidance
  • Line Of Sight
  • Motion Planning
  • Navigation
  • Robotics
  • Robots
  • Simulations
  • Standards
  • Two Dimensional
  • Underwater Vehicles
  • Unmanned Underwater Vehicles
  • Unmanned Vehicles
  • Weighting Functions

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Marine Hydrodynamics
  • Space Exploration and Orbital Mechanics.