Path Following Based on Waypoints and Real-Time Obstacle Avoidance Control of an Autonomous Underwater Vehicle

Path Following Based on Waypoints and Real-Time Obstacle Avoidance Control of an Autonomous Underwater Vehicle

This paper studies three-dimensional (3D) straight line path following and obstacle avoidance control for an underactuated autonomous underwater vehicle (AUV) without lateral and vertical driving forces. Firstly, the expected angular velocities are designed by using two different methods in the kine...

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Bibliographic Details
Main Authors: Xuliang Yao, Xiaowei Wang, Feng Wang, Le Zhang
Format: Article
Language:English
Published: MDPI AG 2020-01-01
Series:Sensors
Subjects:
auv
path following
obstacle avoidance
mpc
smc
Online Access:https://www.mdpi.com/1424-8220/20/3/795

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