aiqbench analysis
This research advances autonomous underwater vehicle navigation by introducing a fixed-time adaptive guidance framework that guarantees path convergence within preset time limits, independent of initial conditions. The approach effectively compensates for dynamic ocean currents and curved-path challenges without requiring modifications to the underlying vehicle controller, offering a practical solution for commercial AUV platforms. TechPulse take: This work represents a significant step forward in control theory applications for robotics, specifically enhancing the reliability and speed of autonomous navigation in complex marine environments.
An Adaptive Fixed-Time Line-of-Sight Guidance Scheme for 3D Path Following of Underwater Vehicles: Theory and Experiment
arXiv:2609.14756v1 Announce Type: new Abstract: Reliable path tracking is crucial for autonomous underwater vehicles (AUVs) operating in dynamic and uncertain marine environments. However, traditional line-of-sight (LOS) guidance methods rely on asymptotic convergence, resulting in slow disturbance recovery and unpredictable tracking performance. Existing robust control methods typically require modifications to the underlying vehicle controller, limiting their practical application on commercial AUV platforms. This paper proposes a robust fixed-time adaptive LOS guidance framework for 3D path tracking for AUVs. By combining fixed-time stability theory with LOS guidance, this method guarantees path tracking convergence within a preset time range, with the convergence time independent of initial conditions. Furthermore, a fixed-time adaptive estimator is developed to rapidly compensate for time-varying sideslip disturbances caused by ocean currents. A time-varying look-ahead mechanism is also introduced to improve tracking performance on curved paths. Lyapunov analysis proves the fixed-time stability of the proposed framework, and numerical simulations and physical experiments demonstrate that, compared to state-of-the-art adaptive LOS methods, this framework exhibits superior tracking accuracy, convergence speed, and anti-interference capability. In simulation, the time-varying look-ahead variant reduced cross-track and vertical-track RMSE by 69.37\% and 67.46\%, respectively, during curved-path tracking. In field experiments with an Iver 3 AUV, the proposed fixed-time guidance reduced average tracking error by 56.35\% in straight-path evaluation and 27.59\% in curved-path evaluation compared with conventional adaptive LOS guidance.The proposed method provides a practical guidance-level solution for achieving reliable autonomous navigation of AUVs in complex marine environments.
Abstract:Reliable path tracking is crucial for autonomous underwater vehicles (AUVs) operating in dynamic and uncertain marine environments. However, traditional line-of-sight (LOS) guidance methods rely on asymptotic convergence, resulting in slow disturbance recovery and unpredictable tracking performance. Existing robust control methods typically require modifications to the underlying vehicle controller, limiting their practical application on commercial AUV platforms. This paper proposes a robust fixed-time adaptive LOS guidance framework for 3D path tracking for AUVs. By combining fixed-time stability theory with LOS guidance, this method guarantees path tracking convergence within a preset time range, with the convergence time independent of initial conditions. Furthermore, a fixed-time adaptive estimator is developed to rapidly compensate for time-varying sideslip disturbances caused by ocean currents. A time-varying look-ahead mechanism is also introduced to improve tracking performance on curved paths. Lyapunov analysis proves the fixed-time stability of the proposed framework, and numerical simulations and physical experiments demonstrate that, compared to state-of-the-art adaptive LOS methods, this framework exhibits superior tracking accuracy, convergence speed, and anti-interference capability. In simulation, the time-varying look-ahead variant reduced cross-track and vertical-track RMSE by 69.37\% and 67.46\%, respectively, during curved-path tracking. In field experiments with an Iver 3 AUV, the proposed fixed-time guidance reduced average tracking error by 56.35\% in straight-path evaluation and 27.59\% in curved-path evaluation compared with conventional adaptive LOS this http URL proposed method provides a practical guidance-level solution for achieving reliable autonomous navigation of AUVs in complex marine environments.
Robotics (cs.RO); Systems and Control (eess.SY)
arXiv:2609.14756 [cs.RO]
(or arXiv:2609.14756v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.14756 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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