Surface Tracking Controls of an Unmanned Underwater Vehicle with Fixed Sonar Ray Measurements in Tunnel-Like Environments
Jonghoek Kim
Abstract:This paper introduces 3-D surface tracking control of an Unmanned Underwater Vehicle (UUV) in tunnel-like environments. Consider the case where a sonar transducer in the UUV does not rotate, and it only emits fixed sonar ray reporting a simple distance measurement. This reduces the power consumption of the UUV, while reducing the UUV’s size and price. The UUV is controlled to proceed in tunnel-like environments, while maintaining a predefined distance from the tunnel boundaries. For maintaining a predefined di… Show more
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