Guidance Algorithm for an Autonomous Unmanned Underwater Vehicle to a Given Target

被引：0
|
作者：
Burdinsky, I. N. [1 ]
机构：
[1] Pacific Natl Univ, Ul Tikhookeanskaya 136, Khabarovsk 680035, Russia
来源：
OPTOELECTRONICS INSTRUMENTATION AND DATA PROCESSING | 2012年 / 48卷 / 01期
关键词：
autonomous unmanned underwater vehicle; positioning; acoustic data; image processing;
D O I：
10.3103/S8756699012010104
中图分类号：
O4 [物理学];
学科分类号：
0702 ;
摘要：
One possible variant of solving the problem of guidance of an autonomous unmanned underwater vehicle to a given target is considered. At large distances, navigation is based on measuring the time of propagation of acoustic signals. Short-range positioning is ensured by processing images taken by an optical camera. PID control is applied as an algorithm controlling the vehicle position and attitude in space. The proposed algorithm is implemented as a computer code and tested in a series of numerical experiments.
引用
收藏
页码：69 / 74
页数：6
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