碩士 / 國立臺灣大學 / 造船工程學系 / 86 / Autonomous underwater vehicles (AUVs) are suitable for use in
underwater operations which require unique trajectories and
dynamic response characteristics. Therefore, it is necessary to
maintain accurate path while maneuvering in confinedspaces and
shallow waters or performing search in designated area.Under
theinfluencesof steady or time-varying external disturbances,
the AUV''s primary guidance systemis necessary to generate
heading or turning rate commands to guide the vehicle to
movethrough a sequences of way points.In this thesis, we use a
steering controller which is based on a neural network structure
to maintain the vehicle''s heading. Then a line-of-sight guidance
law whichdelivers heading commands directly proportional to the
line-of-sight angle between vehicle position and the desired
way-point position. Experimental results show thatthe stability
of linear path-keeping is related to the separation distance of
the consecutive way-points. The experimental results also
demonstrated that the stabilityof the scheme while performing
tracking changing is also related to the way-pointseparation.
| Identifer | oai:union.ndltd.org:TW/086NTU00345003 |
| Date | January 1998 |
| Creators | Lin, Chen Po, 林楨博 |
| Contributors | J.Guo, F.C.Chiu, 郭振華, 邱逢琛 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 63 |
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