Publication Detail

Software Development for the Autonomous Submersible Program at MIT Sea Grant and Draper Laboratory

John L. Loch, Eric V Wallar, James G Bellingham
10 pp.
MITSG 93-21J

In recent years there has been a growing interest in the development and use of autonomous underwater vehicles (AUV). Currently, the major impediment to fielding practical AUV systems is the lack of proven planning and control software that will enable such vehicles to perform intelligent robotic behaviors. A planning and control architecture is currently being developed for a low weight, low cost AUV that will enable the AUV to home in on and proceed to a pinger, while avoiding underwater obstacles. A sliding mode controller has been developed to control the heading, speed and depth of the vehicle. A layered control system has been developed to plan the trajectory of the vehicle. Preliminary test results for the sliding mode controller indicate that depth can be maintained to an accuracy of 0.5 ft and the heading can be maintained to an accuracy of 5 deg.

type: Technical reports

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