Smooth Sliding Mode Control Based Technique of an Autonomous Underwater Vehicle Based Localization Using Obstacle Avoidance Strategy

Fethi Demim, Abdenebi Rouigueb, Hadjira Belaidi, Ali Messaoui, Khadir Bensseghieur, Ahmed Allam, Mohamed Benatia, Abdelmadjid Nouri, Abdelkrim Nemra

2023

Abstract

Navigating underwater environments presents serious challenges in control and localization technology. The successful navigation of uncharted territories requires autonomous maneuvers that achieve goals while avoiding obstacles, posing a significant problem to be addressed. Detection-based control using sensor data and obstacle avoidance technology are vital for the autonomy of Autonomous Underwater Vehicles (AUVs). This study focuses on developing a control method based on Sliding Mode Control (SMC) and utilizing an imaging sonar sensor for obstacle avoidance. The proposed approach includes a controller for pitch and depth control, enabling avoidance of stationary objects. A Gaussian potential function is employed to guide the AUV’s maneuvers and avoid obstructions. Numerous simulation results evaluate the control performance of the AUV in realistic simulation conditions, assessing accuracy and stability. The experimental in simulation results demonstrate the excellent performance of our approach in navigating various obstacles such as gentle rise, steep drop-off, and underwater walls, using seafloor environment simulation models.

Paper Citation

in Harvard Style

Demim F., Rouigueb A., Belaidi H., Messaoui A., Bensseghieur K., Allam A., Benatia M., Nouri A. and Nemra A. (2023). Smooth Sliding Mode Control Based Technique of an Autonomous Underwater Vehicle Based Localization Using Obstacle Avoidance Strategy. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 529-537. DOI: 10.5220/0012118200003543

in Bibtex Style

@conference{icinco23,
author={Fethi Demim and Abdenebi Rouigueb and Hadjira Belaidi and Ali Messaoui and Khadir Bensseghieur and Ahmed Allam and Mohamed Benatia and Abdelmadjid Nouri and Abdelkrim Nemra},
title={Smooth Sliding Mode Control Based Technique of an Autonomous Underwater Vehicle Based Localization Using Obstacle Avoidance Strategy},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={529-537},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012118200003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Smooth Sliding Mode Control Based Technique of an Autonomous Underwater Vehicle Based Localization Using Obstacle Avoidance Strategy
SN - 978-989-758-670-5
AU - Demim F.
AU - Rouigueb A.
AU - Belaidi H.
AU - Messaoui A.
AU - Bensseghieur K.
AU - Allam A.
AU - Benatia M.
AU - Nouri A.
AU - Nemra A.
PY - 2023
SP - 529
EP - 537
DO - 10.5220/0012118200003543
PB - SciTePress