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题名: A tracking control method of ASV following AUV
作者: Ji DX(冀大雄) ; Ren SZ(任申真) ; Zheng R(郑荣) ; Yi RW(衣瑞文) ; Zhao HY(赵宏宇) ; Lin Y(林扬)
作者部门: 海洋信息技术装备中心
会议名称: OCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common
会议日期: September 23-26, 2013
会议地点: San Diego, CA, United states
会议录: OCEANS 2013 MTS/IEEE; San Diego: An Ocean in Common
会议录出版者: IEEE Computer Society
会议录出版地: Washington, DC
出版日期: 2013
收录类别: CPCI(ISTP) ; EI
关键词: Communication ; Navigation ; Oceanography
摘要: A method using autonomous surface vehicle (ASV) is presented in order to track autonomous surface vehicle (AUV). This method uses tracking control based on chasing activity. The heading and speed of ASV is automatically adjusted according to position and speed of underwater robot. And the safe domain of ASV which is not allowed to get out of is built to avoid danger. Sample points are updated dynamically to predict possible position of AUV for stable tracking, in the condition of broken communication which introduces the unknown position. The lake experiment shows that the ASV can autonomously track AUV which trajectory is unknown with stability and continuity by the proposed algorithm in the environment with complex acoustic communication and the results is satisfactory.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/14568
Appears in Collections:海洋信息技术装备中心_会议论文

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