Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Caccia M. Feature-related acoustic guidance of unmanned underwater vehicles. In: CAMS 2001 - Conference on Control Applications in Marine Systems (Glasgow, Scotland (UK), 18-20 July 2001). Proceedings, pp. 1 - 6. IFAC, 2001.
This paper addresses the problem of the design and coordination of guidance and sonar-based motion estimation algorithms for unmanned underwater vehicles. In the framework of a two layered hierarchical architecture uncoupling the system's dynamics and kinematics, a guidance law for following an environmental feature has been designed with Lyapunov-based techniques and integrated with suitable acoustic-based estimators of the corresponding operational variables. A finite state machine combined with a suitable interface for event generation allows the coordinated execution of basic guidance and motion estimation tasks to carry out more complex functions. Experimental results of a prototype UUV executing the coordinated mission of following the perimeter of the trial pool are reported and discussed.
Subject Guidance
Motion estimation
Underwater vehicles

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