State Feedback Control of an Underwater Vehicle for Wall Following

Divine Maalouf 1 Vincent Creuze 1 Ahmed Chemori 2
1 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Wall following consists in navigating at a constant distance and orientation from a certain surface to be inspected. This task is required in many applications of underwater vehicles (e.g. ship hull or hydraulic dam inspection). We propose a nonlinear state feedback, designed for a specific embedded acoustic sensing system. The proposed method and the associated sensor can work on very small low cost underwater vehicles at high sampling rates. Sensor experiments show the ability of a single beam transducer to detect both distance and orientation of a wall, while simulation results show how this sensing system can be successfully integrated in a nonlinear state feedback controller to perform autonomous wall following with an underwater vehicle, even with disturbances.
Type de document :
Communication dans un congrès
MED'12: 20th Mediterranean Conference on Control and Automation, Jul 2012, Barcelona, Spain. pp.6, 2012, 〈http://med12.esaii.upc.edu/〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00714095
Contributeur : Vincent Creuze <>
Soumis le : mardi 3 juillet 2012 - 13:50:09
Dernière modification le : vendredi 13 juillet 2018 - 17:02:01
Document(s) archivé(s) le : jeudi 4 octobre 2012 - 02:55:41

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MED_2012_Final.pdf
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  • HAL Id : lirmm-00714095, version 1

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Divine Maalouf, Vincent Creuze, Ahmed Chemori. State Feedback Control of an Underwater Vehicle for Wall Following. MED'12: 20th Mediterranean Conference on Control and Automation, Jul 2012, Barcelona, Spain. pp.6, 2012, 〈http://med12.esaii.upc.edu/〉. 〈lirmm-00714095〉

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