Download or read book Collision Avoidance for Autonomous Underwater Vehicles written by Helena Flygare and published by . This book was released on 1995 with total page 41 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book A collision avoidance system for autonomous underwater vehicles written by Chiew Seon Tan and published by . This book was released on 2006 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book PATH FOLLOWING AUTONOMOUS UNDERWATER VEHICLE AUV WITH COLLISION AVOIDANCE written by CHEOK KEL VIN (TP015556) and published by . This book was released on 2013 with total page 67 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Design and Implementation of a Collision Avoidance System for the NPS Autonomous Underwater Vehicle AUV II Utilizing Ultrasonic Sensors written by Charles Alan Floyd and published by . This book was released on 1991 with total page 121 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Advanced Model Predictive Control for Autonomous Marine Vehicles written by Yang Shi and published by Springer Nature. This book was released on 2023-02-13 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.

Download or read book Research on Autonomous Underwater Vehicle Collision Avoidance and Navigation Based on H infinity Controller and Artificial Potential Field Method written by 王舜民 and published by . This book was released on 2017 with total page 135 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Underwater Vehicles written by George M. Roman and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Underwater Vehicles: Design and Applications first explores the application of the adaptive Kalman filter algorithm to the estimation of high speed autonomous underwater vehicle dynamics. The authors investigate the performances of different control schemes, from non-model-based to model-based and adaptive model-based, implemented on a low-inertia underwater vehicle for three-dimensional helical trajectory tracking. Control laws for collision avoidance in three-dimensional environments are introduced, considering scenarios where a vehicle detects arbitrarily shaped and nonconvex obstacles using sensors"--

Download or read book Deployment of a Passive Acoustic Detection System for Reactive Collision Avoidance in Autonomous Underwater Vehicles written by Oscar Alberto Viquez Rojas and published by . This book was released on 2017 with total page 76 pages. Available in PDF, EPUB and Kindle. Book excerpt: The use of autonomous vehicles in air, land and water has grown in recent years, with increased attention given to heavily transited areas. For the case of autonomous underwater vehicles, these regions of interest include harbors and river basins where the risk of collision rapidly increases with the number of ships. This thesis presents a collision avoidance system based on passive acoustic sensing, which may be used to alert an AUV's autonomy software of the threat that an approaching vessel may represent in such shallow water environments. Experiments were conducted to collect and process data from static and vehicle-mounted hydrophone arrays, and preliminary measurements were post-processed using various signal smoothing and data-fitting techniques. Results were then compared with a mathematical model used to describe the expected sound propagation profile, to identify how the system was limited by disturbances in the test conditions, such as variable ship speed and bearing, with respect to the vehicle's frame of reference. The benefits and limitations of each data processing approach were identified, and are herein discussed through three separate case studies to highlight the benefit of parallel-model fitting. A Bluefin SandShark AUV was used for a series of deployments performed to test the vehicle's ability to change behaviors in response to approaching vessels that present a chance of collision, relying exclusively on this passive sensing system as the alarm trigger. During the final autonomous behavior-response experiments spanning six distinct deployments, a total of 21 successful alarm triggers were recorded in the vehicle logs, along with a cumulative 142 minutes of acoustic data.

Download or read book Obstacle Avoidance While Bottom Following for the REMUS Autonomous Underwater Vehicle written by and published by . This book was released on 2004 with total page 7 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will also be required to map and avoid obstacles such as sunken ships and reefs. Following previous work on steering control, this work examines collision avoidance behaviors in bottom following using a hypothetical forward-looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop diving equations that model REMUS behaviors. A two-dimensional forward-looking sonar model with a 20 vertical scan and a 40 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAB simulations. REMUS is a highly responsive vehicle and care has taken to balance pitch and heave response to keep the obstacle to be avoided in sight during the response behavior.

Download or read book The Operation of Autonomous Underwater Vehicles written by Edward Duncan Brown and published by . This book was released on 2000 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Design of Collision Avoidance System and Adaptive Mixed H2 H infinity Controller for Autonomous Underwater Vehicles written by and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle written by Christopher D. Chuhran and published by . This book was released on 2003-09 with total page 63 pages. Available in PDF, EPUB and Kindle. Book excerpt: As the Navy continues its development of unmanned underwater vehicles, the need for total autonomous missions grows. Autonomous Underwater Vehicles (AUV) allow for advances in mine warfare, harbor reconnaissance, undersea warfare and more. Information can be collected from AUVs and downloaded into a ship or battle group's network. As AUVs are developed it is clear forward-look sonar will be required to be able to detect obstacles in front of its search path. Common obstacles in the littoral environment include reefs and seawalls which an AUV will need to rise above to pass. This thesis examines the behavior and control system required for an AUV to maneuver over an obstacle in the vertical plane. Hydrodynamic modeling of a REMUS vehicle enables a series of equations of motion to be developed to be used in conjunction with a sliding mode controller to control the elevation of the AUV. A two-dimensional, 24 deg. vertical scan forward look sonar with a range of 100 m is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for use in MATLAB simulations. The sonar 'image' of the vertical obstacle allows for an increasing altitude command that forces the AUV to pass safely over the obstacles at a reasonable rate of ascent and pitch angle. Once the AUV has passed over the obstacle, the vehicle returns to its regular search altitude. This controller is simulated over different types of obstacles.

Download or read book Real Time Sonar Classification for Autonomous Underwater Vehicles written by Michael S. Campbell and published by . This book was released on 1996-03-01 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Naval Postgraduate School autonomous underwater vehicle (AUV) phoenix did not have any sonar classification capabilities and only a basic collision avoidance system. The Phoenix also did not have the capability of dynamically representing its environment for path planning purposes. This thesis creates a sonar module that handles real time object classification and enables collision avoidance at the Tactical level. The sonar module developed communicates directly with the available sonar and preprocesses raw data to a range - bearing data pair. The module then processes the range - bearing data using parametric regression to form line segments. A polyhedron building algorithm combines line segments to form objects and classifies them based on their attributes. When the Phoenix is transiting, the classifying algorithm detects collision threats and initiates collision avoidance procedures. The result of this thesis is a fully implemented sonar module on the Phoenix. This module was tested in a virtual world, test tank and in the first ever sea-water testing of the Phoenix. The sonar module has demonstrated real time sonar classification, run time collision avoidance and the ability to dynamically update the representation of the unknown environment. The sonar module is a forked process written in the 'C' language, functioning at the Tactical level. Source code and output from an actual Phoenix mission displaying the object classification of the sonar module are included.

Download or read book Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle written by Lynn R. Fodrea and published by . This book was released on 2002-12 with total page 79 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will be required to map and avoid obstacles such as sunken ships. This thesis examines obstacle avoidance behaviors using a forward- looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop steering equations that model REMUS through a track of specified points similar to a real-world mission track. Control of REMUS is accomplished using line of sight and state feedback controllers. A two- dimensional forward-looking sonar model with a 1200 horizontal scan and a 110 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAE simulations. The product of bearing and range weighting functions form the gain factor for a dynamic obstacle avoidance behavior. The overall vehicle heading error incorporates this obstacle avoidance term to develop a path around detected objects. REMUS is a highly responsive vehicle in the model and is capable of avoiding multiple objects in proximity along its track path.

Download or read book Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle written by and published by . This book was released on 2002 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will be required to map and avoid obstacles such as sunken ships. This thesis examines obstacle avoidance behaviors using a forward-looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop steering equations that model REMUS through a track of specified points similar to a real-world mission track. Control of REMUS is accomplished using line of sight and state feedback controllers. A two-dimensional forward-looking sonar model with a 1200 horizontal scan and a 110 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAE simulations. The product of bearing and range weighting functions form the gain factor for a dynamic obstacle avoidance behavior. The overall vehicle heading error incorporates this obstacle avoidance term to develop a path around detected objects. REMUS is a highly responsive vehicle in the model and is capable of avoiding multiple objects in proximity along its track path.

Download or read book Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle written by Lynn Fodrea and published by . This book was released on 2002 with total page 63 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will be required to map and avoid obstacles such as sunken ships. This thesis examines obstacle avoidance behaviors using a forward-looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop steering equations that model REMUS through a track of specified points similar to a real-world mission track. Control of REMUS is accomplished using line of sight and state feedback controllers. A two-dimensional forward-looking sonar model with a 1200 horizontal scan and a 110 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAE simulations. The product of bearing and range weighting functions form the gain factor for a dynamic obstacle avoidance behavior. The overall vehicle heading error incorporates this obstacle avoidance term to develop a path around detected objects. REMUS is a highly responsive vehicle in the model and is capable of avoiding multiple objects in proximity along its track path.

Download or read book AUV Experiments in Obstacle Avoidance written by and published by . This book was released on 2005 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt: Reactive Obstacle Avoidance "OA" is an important step in attaining greater autonomy in Autonomous Underwater Vehicles "AUV". For AUVs that conduct underwater surveys, avoidance of uncharted obstacles can improve vehicle survivability. This paper discusses initial experiments at the Center for AUV Research in obstacle detection and avoidance using the Naval Postgraduate School ARIES AUV with the Blueview Blazed Array forward looking sonar. It includes a discussion on evaluating OA optimality, autopilot control design and sonar image processing. It concludes with a description of successful results from a recent demonstration.