On‐board sensor‐based adaptive control of small UUVs in very shallow water*

This paper presents a technique to localize the vehicle with respect to known landmarks using on-board navigation sensors, overcoming uncertainities in vehicle dynamics and its operating environment. Results of computer simulation and pool experimentation are presented. Those results show that the system is capable of controlling the vehicle with high accuracy using the estimated position and velocity from the on-board sensor-based navigation system. Copyright © 2000 John Wiley & Sons, Ltd.

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