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On‐board sensor‐based adaptive control of small UUVs in very shallow water *
Author(s) -
Nie Jing,
Yuh J.,
Kardash Erik,
Fossen Thor Inge
Publication year - 2000
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/1099-1115(200006)14:4<441::aid-acs565>3.0.co;2-m
Subject(s) - on board , position (finance) , navigation system , engineering , computer science , change control board , control engineering , real time computing , simulation , aerospace engineering , electrical engineering , finance , economics
This paper presents a technique to localize the vehicle with respect to known landmarks using on‐board navigation sensors, overcoming uncertainities in vehicle dynamics and its operating environment. Results of computer simulation and pool experimentation are presented. Those results show that the system is capable of controlling the vehicle with high accuracy using the estimated position and velocity from the on‐board sensor‐based navigation system. Copyright © 2000 John Wiley & Sons, Ltd.