Download or read book A Novel Localization System for Experimental Autonomous Underwater Vehicles written by Russell Walter Morin and published by . This book was released on 2010 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: Localization is a classic and complex problem in the field of mobile robotics. It becomes particularly challenging in an aqueous environment because currents within the water can move the robot. A novel localization module and corresponding localization algorithm for experimental autonomous underwater vehicles is presented. Unlike other available positioning systems which require fixed hardware beacons, this custom built module relies only on information available from sensors on-board the vehicle and knowledge of its bounded domain. This allows the user to save valuable time which would otherwise be devoted to the setup and calibration of a beacon or sensor network. The module uses three orthogonal ultrasonic transducers to measure distances to the tank boundaries. Using the measured tri-axial orientation of the vehicle, the algorithm analytically determines the robot's position within the domain in absolute coordinates. Certain vehicle states do not allow the position to be completely resolved by the algorithm alone. In this case, state estimation is used to estimate the robot position until its state is no longer indeterminate. The modular design of this system makes it ideal for application on underwater vehicles which operate in a bounded environment for research purposes. An experimental version of the module was constructed and tested in the WPI swimming pool and showed successful localization under normal conditions.
Download or read book Autonomous Underwater Vehicles written by Jing Yan and published by Springer Nature. This book was released on 2021-11-01 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.
Download or read book Underwater Vehicle Localization Using Range Measurements written by Georgios Papadopoulos and published by . This book was released on 2010 with total page 83 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis investigates the problem of cooperative navigation of autonomous marine vehicles using range-only acoustic measurements. We consider the use of a single maneuvering autonomous surface vehicle (ASV) to aid the navigation of one or more submerged autonomous underwater vehicles (AUVs), using acoustic range measurements combined with position measurements for the ASV when data packets are transmitted. The AUV combines the data from the surface vehicle with its proprioceptive sensor measurements to compute its trajectory. We present an experimental demonstration of this approach, using an extended Kalman filter (EKF) for state estimation. We analyze the observability properties of the cooperative ASV/AUV localization problem and present experimental results comparing several different state estimators. Using the weak observability theorem for nonlinear systems, we demonstrate that this cooperative localization problem is best attacked using nonlinear least squares (NLS) optimization. We investigate the convergence of NLS applied to the cooperative ASV/AUV localization problem. Though we show that the localization problem is non-convex, we propose an algorithm that under certain assumptions (the accumulative dead reckoning variance is much bigger than the variance of the range measurements, and that range measurement errors are bounded) achieves convergence by choosing initial conditions that lie in convex areas. We present experimental results for this approach and compare it to alternative state estimators, demonstrating superior performance.
Download or read book Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles written by Francesco Fanelli and published by Springer. This book was released on 2019-04-16 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on pose estimation algorithms for Autonomous Underwater Vehicles (AUVs). After introducing readers to the state of the art, it describes a joint endeavor involving attitude and position estimation, and details the development of a nonlinear attitude observer that employs inertial and magnetic field data and is suitable for underwater use. In turn, it shows how the estimated attitude constitutes an essential type of input for UKF-based position estimators that combine position, depth, and velocity measurements. The book discusses the possibility of including real-time estimates of sea currents in the developed estimators, and highlights simulations that combine real-world navigation data and experimental test campaigns to evaluate the performance of the resulting solutions. In addition to proposing novel algorithms for estimating the attitudes and positions of AUVs using low-cost sensors and taking into account magnetic disturbances and ocean currents, the book provides readers with extensive information and a source of inspiration for the further development and testing of navigation algorithms for AUVs.
Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-21 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.
Download or read book Experiments in Intervention Autonomous Underwater Vehicles written by Howard H. Wang and published by . This book was released on 1996 with total page 254 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book The Autonomous Underwater Vehicle Emergency Localization System written by Ronald S. Lewis and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: There is an inherent risk of loss that accompanies any operations of Autonomous Underwater Vehicle (AUV) technology. This complexity and risk are increased for AUV missions that are conducted beneath ice and in harsh environmental conditions (i.e. extreme cold, compromised visibility, etc.). Risk-based methodologies have been developed to quantify the risk of loss for specific AUV platforms prior to deployments. Their goal is to identify and mitigate where possible the significant contributors (technical or otherwise) to the overall risk of a specific operation. Not surprisingly, there is an abundant amount of literature related to successful AUV missions; however, there has been very little published work related to AUV loss. Specifically, this author is not aware of any examples of a developed procedure to employ during an AUV loss event to date, much less specific algorithms developed to locate a missing AUV. This is a subset of the AUV tracking or positioning that is rarely given specific treatment. The motivating problem is based on the loss event of an AUV during polar operations. For example, (i) the vehicle might navigate outside of its predefined spatial area through some fault or error, or, (ii) its mission involves over-the-horizon operations, i.e. beyond the range of standard acoustical tracking technologies. In either circumstance, at the end of its pre-programmed mission, the AUV fails to return to the base station. Such an eventuality defines the need for reliable, long-range acoustic tracking capability that is able to coarsely localize the AUV and subsequently enable communications and/or recovery of the AUV. The thesis describes a novel approach for an acoustic positioning system for AUV localization in harsh environments with non-standard acoustic challenges that can be implemented using only basic acoustic technology, a basic single-beacon, singlehydrophone (SBSH) system. Inversive geometric techniques are applied for source localization of a one-way traveling, asynchronous acoustic signal. This differs from the usual methods of spherical, two-way direct flight measurement based on time of arrival (TOA), or hyperbolic, one-way time difference of arrival (TDOA) target tracking for transmission based on a purely Euclidean geometry. This is a novel approach to the problem of localizing an AUV. A second method of solving the non-linear system of equations that arise from the problem using the SBSH approach is derived. Both methods, the novel Apollonian inversion geometry localization (AIGL) and the non linear system localization (NLSL), are evaluated in simulation and using live field data. It will be shown that the novel algorithm performs comparable to the standard method of solving the nonlinear systems resulting from a SBSH approach. Furthermore, in certain situations it improves the localization result.
Download or read book Autonomous Underwater Vehicles written by Frank Ehlers and published by SciTech Publishing. This book was released on 2020-08-26 with total page 591 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gives a state-of-the-art overview of the hot topic of autonomous underwater vehicle (AUV) design and practice. It covers a wide range of AUV application areas such as education and research, biological and oceanographic studies, surveillance purposes, military and security applications and industrial underwater applications.
Download or read book Introduction to Autonomous Manipulation written by Giacomo Marani and published by Springer. This book was released on 2014-03-26 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: “Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples an d experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better.
Download or read book Design and Implementation of a Localization System for Underwater Drones Incorporating Machine Learning written by and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: An Autonomous Underwater Vehicle (AUV) is a class of robot, designed to explore and navigate underwater environments. AUVs are used in underwater surveying and inspection as they are capable of operating at extreme depths without risk to human life. Long-duration missions require accurate localization to facilitate underwater navigation, in the deep ocean environment (> 200 meter depth) localization is a significant challenge. This thesis proposes a machine learning model to provide velocity pseudo measurements to an EKF to improve position estimates without relying on external references. The proposed system is built on the Robot Operating System (ROS) and was validated in simulation and on a real-world AUV created for this research. The results showed that in simulation the AUV was capable of localizing itself to an error of 0.477% of distance traveled for the simulation and 9.13% for the real-world AUV.
Download or read book Underwater SLAM for Structured Environments Using an Imaging Sonar written by David Ribas and published by Springer Science & Business Media. This book was released on 2010-07-26 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human en- ronments and vigorously engaged in its new challenges. Interacting with, assisting, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. Beyond its impact on physical robots, the body of knowledge robotics has p- duced is revealing a much wider range of applications reaching across diverse research areas and scienti?c disciplines, such as: biomechanics, haptics, neu- sciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The SpringerTracts in AdvancedRobotics(STAR) is devoted to bringing to the research community the latest advances in the robotics ?eld on the basis of their signi?cance and quality. Through a wide and timely dissemination of critical - search developments in robotics, our objective with this series is to promote more exchanges and collaborations among the researchers in the community and c- tribute to further advancements in this rapidly growing ?eld.
Download or read book Doppler based Localization for Mobile Autonomous Underwater Vehicles written by William Somers and published by . This book was released on 2011 with total page 66 pages. Available in PDF, EPUB and Kindle. Book excerpt: A novel algorithm for localization of Autonomous Underwater Vehicles (AUVs) operating in under-the-ice environments is proposed along with a mathematical analysis for the same. The objective is to accurately predict the position of a mobile AUV via cooperation with neighboring vehicles by utilizing a Doppler-based approach. Current existing localization techniques require either an anchor or surfacing AUV to acquire a GPS fix or rely on a system of expensive and difficult to deploy hardware. Our Doppler-based approach is based on observed Doppler shifts, which are measured opportunistically from ongoing communications between AUVs. These observed Doppler shifts can be used to project the subsequent positions of the AUV and limit the internal uncertainty associated with traditional localization techniques. An AUV's internal uncertainty is the uncertainty in the position of a mobile vehicle as estimated by itself, e.g., via localization techniques. In addition, this Doppler-based approach has minimal network overhead when compared to traditional localization techniques and does not require synchronization between AUVs. The main focus of this thesis is to quantify (via simulations) the solution behavior as well as its sensitivity to possible sources of errors.
Download or read book Underwater Vehicle Control and Communication Systems Based on Machine Learning Techniques written by Tien Anh Tran and published by . This book was released on 2023-12-04 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers different aspects of optimization autonomous underwater vehicles and their propulsion systems via machine learning techniques. It further analyses hydrodynamic characteristics including study of experimental investigation combined with hydrodynamic characteristics backed my MATLAB codes and simulation study results.
Download or read book A Systematic Experimental and Analytical Investigation of the Autonomous Underwater Vehicle Design Process with Particular Regard to Power System Integration written by and published by . This book was released on 1998 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems 3rd ICAUS 2023 written by Yi Qu and published by Springer Nature. This book was released on with total page 521 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book 2021 IEEE International Conference on Smart Internet of Things SmartIoT written by IEEE Staff and published by . This book was released on 2021-08-13 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Internet of Things (IoT) plays an important role in the current and future generation of information, network, and communication developing and applications Smart IoT is an exciting emerging research field that has great potential to transform both our understanding of fundamental computer science principles and our standard of living IoT is being employed in more and more areas making Everything Smart , such as smart home, smart city, intelligent transportation, environment monitoring, security systems, and advanced manufacturing
Download or read book Autonomous Underwater Vehicle Navigation written by and published by . This book was released on 2008 with total page 36 pages. Available in PDF, EPUB and Kindle. Book excerpt: This report considers the vehicle navigation problem for an autonomous underwater vehicle with six degrees of freedom. We approach this problem using an error state formulation of the Kalman filter. Integration of the vehicle's high-rate inertial measurement unit's accelerometers and gyros allow time propagation while other sensors provide measurement corrections. The low-rate aiding sensors include a Doppler velocity log, an acoustic long baseline system that provides round-trip travel times from known locations, a pressure sensor for aiding depth, and an attitude sensor. Measurements correct the filter independently as they arrive, and as such, the filter is not dependent on the arrival of any particular measurement. The navigation system can estimate critical bias parameters that improve performance. The result is a robust navigation system. Simulation and experimental results are provided.
