A Terrain-Following Control Method for Autonomous Underwater Vehicles with Single-Beam Sensor Configuration

A Terrain-Following Control Method for Autonomous Underwater Vehicles with Single-Beam Sensor Configuration

This paper investigates the terrain-following problem for an autonomous underwater vehicle (AUV) from control perspectives with full consideration of terrain characteristics. By equipping the AUV with three simple single-beam echo sounders, a set of precise along-track bottom slopes are obtained in...

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Bibliographic Details
Main Authors: Zheping Yan, Lichao Hao, Yuzhu Wang, Tao Chen
Format: Article
Language:English
Published: MDPI AG 2024-02-01
Series:Journal of Marine Science and Engineering
Subjects:
AUVs
terrain feature extraction
terrain following
single-beam sonars
Online Access:https://www.mdpi.com/2077-1312/12/3/366

Internet

https://www.mdpi.com/2077-1312/12/3/366

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