DESIGN OF STABLE NONLINEAR GUIDANCE OF AN UNDERWATER VEHICLE IN THE SHIP WAKE VIA ESTIMATED PATH BY PARTICLE FILTER

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BASOHBAT NOVINZADEH ALIREZA; ASADI MATAK MOJTABA

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Journal: Modares Mechanical Engineering Year:2017 | Volume:17 | Issue:5 Page(s): 260-266

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Title

DESIGN OF STABLE NONLINEAR GUIDANCE OF AN UNDERWATER VEHICLE IN THE SHIP WAKE VIA ESTIMATED PATH BY PARTICLE FILTER

Author(s)

BASOHBAT NOVINZADEH ALIREZA | ASADI MATAK MOJTABA | Issue Writer Certificate

Keywords

GUIDANCEQ2

UNDERWATER VEHICLEQ1

WAKEQ1

PARTICLE FILTERQ1

LYAPUNOVQ1

Abstract

GUIDANCE of an UNDERWATER VEHICLE in the WAKE of target due to the complexity of GUIDANCE in water and also sensor limitations is still the most important homing GUIDANCE method. Disadvantages of WAKE GUIDANCE can be mentioned as zigzag motion for rediscovering the WAKE in its path which, according to the decreasing linear speed of approaching the target, sometimes does not reach the target and collision fails. Therefore, various ideas with both positive and negative aspects have been introduced to improve movement in the WAKE path. According to complexity of the WAKE model and also its instability in extracting its parameters, it is a very nonlinear phenomenon and GUIDANCE in it is problematic in UNDERWATER VEHICLEs. Since the WAKE detection area by the sensor is not wide enough, WAKE is just discovered nearby. Hence the real WAKE path is not detectable and therefore advanced GUIDANCE method is not available. For this reason, it is suggested that a method of unknown path tracking be used for the WAKE GUIDANCE. This GUIDANCE law consists of two parts of path estimation and nonlinear GUIDANCE. The estimation method is performed using PARTICLE FILTER that has the ability to estimate nonlinear paths. The stability proof of nonlinear GUIDANCE method is done by LYAPUNOV.

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APA: Copy

BASOHBAT NOVINZADEH, ALIREZA, & ASADI MATAK, MOJTABA. (2017). DESIGN OF STABLE NONLINEAR GUIDANCE OF AN UNDERWATER VEHICLE IN THE SHIP WAKE VIA ESTIMATED PATH BY PARTICLE FILTER. MODARES MECHANICAL ENGINEERING, 17(5 ), 260-266. SID. https://sid.ir/paper/179202/en

Vancouver: Copy

BASOHBAT NOVINZADEH ALIREZA, ASADI MATAK MOJTABA. DESIGN OF STABLE NONLINEAR GUIDANCE OF AN UNDERWATER VEHICLE IN THE SHIP WAKE VIA ESTIMATED PATH BY PARTICLE FILTER. MODARES MECHANICAL ENGINEERING[Internet]. 2017;17(5 ):260-266. Available from: https://sid.ir/paper/179202/en

IEEE: Copy

ALIREZA BASOHBAT NOVINZADEH, and MOJTABA ASADI MATAK, “DESIGN OF STABLE NONLINEAR GUIDANCE OF AN UNDERWATER VEHICLE IN THE SHIP WAKE VIA ESTIMATED PATH BY PARTICLE FILTER,” MODARES MECHANICAL ENGINEERING, vol. 17, no. 5 , pp. 260–266, 2017, [Online]. Available: https://sid.ir/paper/179202/en

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