Study on docking guidance algorithm for hybrid underwater glider in currents
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- 作者：Canjun Yanga ; Shilin Pengb ; Shuangshuang Fanc ; ssfan@zju.edu.cn" class="auth_mail" title="E-mail the corresponding author ; fanshuangshuang@163.com" class="auth_mail" title="E-mail the corresponding author ; Shaoyong Zhanga ; Pinfu Wanga ; Ying Chena ; d
- 关键词：Hybrid underwater glider ; Rotatable thruster ; Docking ; Guidance algorithm ; Current
- 刊名：Ocean Engineering
- 出版年：2016
- 出版时间：1 October 2016
- 年：2016
- 卷：125
- 期：Complete
- 页码：170-181
- 全文大小：3029 K
文摘
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A docking scheme consists of a hybrid underwater glider with a rotatable thruster for high maneuverability and a rotatable dock station providing better accessibility.
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The docking control problem for underwater vehicle is described mathematically.
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A pursuit guidance algorithm with current compensation is presented, which takes both the view range of the sensors and the ocean current disturbances into account.