Surface leader experiment Sample Clauses

Surface leader experiment. In what follow we summarize the results of practical experiments that illustrate the performance of the LTS in the first scenario: one ASV as leader and one AUV as follower. During the tests, the ASV was requested to perform a U-shaped path-following maneuver at the surface. In the set-up adopted, the virtual target (to be tracked by the AUV) is positioned at a point defined by desired along- and across-path distances with respect to the path defined by the AUV (which, as explained before, is either a straight line or a segment of a circumference, or a combination thereof). The along and cross- path distances were set to -17 and +5 meters, respectively (intuitively speaking, this means that the AUV was requested to stay 17 meters behind along the path and 5 meters to the right). Throughout the maneuver, the AUV was commanded to remain at a fixed depth. The nominal speed of the leader vehicle (ASV) was set to 0.3 m/s. 5.2.1. Leader Tracking System with ASV as leader: ASV and AUV trajectories. Fig. 5.2.2. Tracking error of the AUV