A path tracking control algorithm for underwater mining vehicles

Journal of Mechanical Science and Technology

Volumn 23, Issue 8, 2009, Pages 2030-2037

  Hong, Sup ^a   Choi, Jong Su ^a   Kim, Hyung Woo ^a   Won, Moon Cheol ^b   Shin, Seung Chul ^b   Rhee, Joon Seong ^b   Park, Hyo un ^b  

^a Korea Research Institute of Ships and Ocean Engineering   (South Korea)

^b Chungnam National University   (South Korea)

Author keywords

Control; Tracked vehicle; Underwater mining

Indexed keywords

COHESIVE SOILS; CONTROL ALGORITHMS; CONTROL GAINS; FORWARD VELOCITY; HEADING ANGLES; INTERACTION FORCES; LINE OF SIGHT; MINING VEHICLES; NUMERICAL SIMULATION; PATH TRACKING CONTROL; TRACKED VEHICLE; TRACKED VEHICLES; UNDERWATER MINING; WATER MIXTURE; YAW DYNAMICS;

AUTOMOBILE PARTS AND EQUIPMENT; BENTONITE; EQUIPMENT TESTING; GEOLOGIC MODELS; MINING; NAVIGATION; SIMULATORS; SOILS; VEHICLES;

ALGORITHMS;

EID: 70350586657     PISSN: 1738494X     EISSN: None     Source Type: Journal    
DOI: 10.1007/s12206-009-0436-y     Document Type: Article

References (7)

1. S. Hong, H. W. Kim and J. S. Choi, Transient Dynamic Analysis of Tracked Vehicles on Extremely Soft Cohesive Soil, ISOPE Pacific/Asia Offshore Mechanics Symposium, (2002) 100-107.
2. M. Ahmadi, V. Polotski and R. Hurteau, Path Tracking Control of Tracked Vehicles, IEEE International Conference on Robotics and Automation 3 (2000) 24-28.
3. L. Guo, C. C. Kha, H. J. Biao and H. HuiDao, Robust PD control of unmanned land vehicles, TENCON' 93. Proceedings. of Computer, Communication, Control, and Power Engineering., (1993).
4. J. Y. Wong, Theory of Ground Vehicles, 3rd ed. John Willy & Sons, inc, (2001).
5. A. T. Le, D. C. Rye and H. F. Durrant-Whyte, Estimation of track-soil interactions for autonomous tracked vehicles, Proc. IEEE International Conference on Robotics and Automation, Albuquerque, NM. USA, (1997).
6. J. J. Soltine and W. Li, Applied Nonlinear Control, Prentice Hall International, inc, (1991).
7. T. I. Fossen, Marine Control System, Marine Cybernetics AS, (2002).