Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Caccia M., Bruzzone G., Veruggio G. Guidance of unmanned underwater vehicles: experimental results. In: ICRA 2000 - IEEE International Conference on Robotics and Automation (San Francisco (CA), USA, 24-28 April 2000). Proceedings, vol. 2 pp. 1799 - 1804. IEEE, 2000.
This paper addresses the problem of guidance of unmanned underwater vehicles (UUVs). In the framework of a two layered hierarchical architecture decoupling the system dynamics and kinematics, two guidance laws for approaching a target with the desired orientation and following an environmental feature have been designed with Lyapunov-based techniques. Suitable acoustic-based estimators of the corresponding operational variables have been designed and integrated with the guidance and control system. Experimental results of pool trials of a prototype UUV executing free-space maneuvering and wall-following tasks are reported and discussed.
DOI: 10.1109/ROBOT.2000.844856
Subject Lyapunov methods
hierarchical systems
mobile robots
underwater vehicles

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