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Scientific paper - Original scientific paper
3D Line Following for Unmanned Underwater Vehicles
Brodogradnja : časopis brodogradnje i brodograđevne industrije, 61 (2010), 2; 121-129. urn:nbn:hr:168:518059
Mišković, Nikola; Nađ, Đula; Vukić, Zoran

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Mišković, N., Nađ, Đ. & Vukić, Z. (2010). 3D Line Following for Unmanned Underwater Vehicles. Brodogradnja : časopis brodogradnje i brodograđevne industrije, 61. (2), 121-129. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:518059

Mišković, Nikola, et al. "3D Line Following for Unmanned Underwater Vehicles." Brodogradnja : časopis brodogradnje i brodograđevne industrije, vol. 61, no. 2, 2010, pp. 121-129. https://urn.nsk.hr/urn:nbn:hr:168:518059

Mišković, Nikola, Đula Nađ and Zoran Vukić. "3D Line Following for Unmanned Underwater Vehicles." Brodogradnja : časopis brodogradnje i brodograđevne industrije 61, no. 2 (2010): 121-129. https://urn.nsk.hr/urn:nbn:hr:168:518059

Mišković, N., Nađ, Đ. and Vukić, Z. (2010) '3D Line Following for Unmanned Underwater Vehicles', Brodogradnja : časopis brodogradnje i brodograđevne industrije, 61(2), pp. 121-129. Available at: https://urn.nsk.hr/urn:nbn:hr:168:518059 (Accessed 26 December 2024)

Mišković N, Nađ Đ, Vukić Z. 3D Line Following for Unmanned Underwater Vehicles. Brodogradnja : časopis brodogradnje i brodograđevne industrije [Internet]. 2010 [cited 2024 December 26];61(2):121-129. Available at: https://urn.nsk.hr/urn:nbn:hr:168:518059

N. Mišković, Đ. Nađ and Z. Vukić, "3D Line Following for Unmanned Underwater Vehicles", Brodogradnja : časopis brodogradnje i brodograđevne industrije, vol. 61, no. 2, pp. 121-129, 2010. [Online]. Available at: https://urn.nsk.hr/urn:nbn:hr:168:518059. [Accessed: 26 December 2024]

Metadata
Title (english)3D Line Following for Unmanned Underwater Vehicles
Title (croatian)Praćenje 3D pravca za bespilotne ronilice
AuthorNikola Mišković
MBZ: 267745
AuthorĐula Nađ
MBZ: 368990
AuthorZoran Vukić
MBZ: 74412
Author's institutionUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Abstract (english)
When designing guidance controllers for unmanned underwater vehicles, an assumption is often made that the vessel operates at a constant depth. However, in many applications the desired depth often changes with the position of the vessel in the horizontal plane. This paper addresses the problem of three dimensional line following with application to underactuated underwater vehicles. The problem is resolved by separating the desired line into two components. The main contribution of this paper is the design of 3D line following controllers for underactuated underwater vehicles. The control design is based on constant controlled surge speed and a simplified decoupled model of an underwater vehicle. Detailed design procedure is presented. The simulation results are obtained from a complex, coupled model, which proves that the proposed algorithm can be used on real vehicles.
Keywords (english)
Languageenglish
Publication typeScientific paper - Original scientific paper
Publication statusPublished
Peer reviewPeer review - international
Publication versionPublished version
Journal titleBrodogradnja : časopis brodogradnje i brodograđevne industrije
Numberingvol. 61, no. 2, pp. 121-129
p-ISSN0007-215X
URN:NBNurn:nbn:hr:168:518059
Publication2010
Document URLhttp://bib.irb.hr/456374
Type of resourceText
Access conditionsOpen access
Terms of useLicence Attribution 3.0 Unported (CC BY 3.0) icon
Created on2020-02-12 21:06:11