Software Development for the Autonomous Submersible Program at MIT Sea Grant and Draper Laboratory
- 25 August 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
A planning and control architecture is currently being developed for a low weight, low cost AUV that will enable the ALTV (for its initial mission) 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. Both algorithms have been ported to the AUV's onboard 68000 based computer. Preliminary test results for the sliding mode controller indicate in steady state that depth can be maintained to an accuracy of 0.5 ft and the heading can be maintained to an accuracy of 5 deg. Testing of the layered control system is awaiting the successful performance of the forward looking obstacle avoidance sonar.Keywords
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