Automatic bottom-following for underwater robotic vehicles

@article{AdhamiMirhosseini2014AutomaticBF,
  title={Automatic bottom-following for underwater robotic vehicles},
  author={Aras Adhami-Mirhosseini and Mohammad Javad Yazdanpanah and Antonio Pedro Aguiar},
  journal={Automatica},
  year={2014},
  volume={50},
  pages={2155-2162}
}
In this note we propose a solution for the automatic bottom-following problem for a low cost autonomous underwater vehicle. We consider the case that the seabed profile is not known in advance, and we show that it is possible to solve the bottomfollowing using only one echo sounder and without the need to measure the vertical velocity component (heave velocity). To this effect, we propose an output feedback controller that is obtained by first re-formulating the bottom-following into a… CONTINUE READING

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