Longitudinal Motion Control of Underactuated Cruising AUVs for Acoustic Bottom Survey

Kangsoo Kim

2023

Abstract

Longitudinal motion control approaches for underactuated cruising AUVs primarily tasked with acoustic bottom surveys are addressed. For controlling the longitudinal motion of a cruising AUV, we implemented waypoint-based depth control and terrain following approaches during simulated acoustic bottom survey missions. Simulation results revealed that the distinct motion control approaches significantly influence the pitch motion of the vehicle, thereby directly impacting the quality of the acoustic bottom survey results. The safety issue of a cruising AUV, particularly regarding the occurrence of bottom collisions during its near-bottom survey missions is also investigated in this research. Concerning the safety issue, we found that while traversing the same trackline, the likelihood of an AUV encountering a bottom collision varies considerably, based on the specific motion control approach being utilized.

Paper Citation

in Harvard Style

Kim K. (2023). Longitudinal Motion Control of Underactuated Cruising AUVs for Acoustic Bottom Survey. 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 754-762. DOI: 10.5220/0012257200003543

in Bibtex Style

@conference{icinco23,
author={Kangsoo Kim},
title={Longitudinal Motion Control of Underactuated Cruising AUVs for Acoustic Bottom Survey},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={754-762},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012257200003543},
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 - Longitudinal Motion Control of Underactuated Cruising AUVs for Acoustic Bottom Survey
SN - 978-989-758-670-5
AU - Kim K.
PY - 2023
SP - 754
EP - 762
DO - 10.5220/0012257200003543
PB - SciTePress