Autonomous underwater vehicle modelling, control, motion and mission planning design Otonom sualti araci modellemesi̇, deneti̇mi̇, hareket ve görev planlama tasarimi

Gül U. D., LEBLEBİCİOĞLU M. K.

2012 20th Signal Processing and Communications Applications Conference, SIU 2012, Fethiye, Mugla, Turkey, 18 - 20 April 2012, (Full Text) identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/siu.2012.6204466
  • City: Fethiye, Mugla
  • Country: Turkey
  • Middle East Technical University Affiliated: Yes

Abstract

This paper describes the development of mathematical model, speed, pitch and yaw autopilot, motion and mission planning algorithms for an unmanned underwater vehicle to operate autonomously. Proposed mathematical model, control model, motion and mission planning algorithms are verified by computer simulation results. © 2012 IEEE.