Download or read book Contour Tracking Control for the REMUS Autonomous Underwater Vehicle written by and published by . This book was released on 2005 with total page 67 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the interest of enhancing the capabilities of autonomous underwater vehicles used in US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation. Use of a contour tracking control algorithm in lieu of preprogrammed waypoint navigation offers distinct advantages within new challenges. The difficult nature of this problem lies in the non-trivial connection between the necessary corrective action and the feedback error used in traditional control methods. Stated simply, modern vehicle control algorithms separate horizontal and vertical plane navigation. The autonomous vehicle senses heading error and applies rudder to steer the vehicle to a desired heading. Simultaneously, the vehicle might sense altitude and apply stern plane angles to maintain a safe height above ground. This thesis research examines the new problem of sensing depth and altitude in the vertical plane while steering the vehicle horizontally to find a specified bathymetry contour. While more remains to understand, this research proves the existence of a solution and suggests similar approaches may facilitate tying vehicle navigation to other indirect sensors. This thesis presents two contour tracking control algorithms and examines the performance of each by simulating the response of the REMUS underwater vehicle to ideal and real-world bathymetry models.

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 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 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 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 Tracking Control for Autonomous Underwater Vehicles written by Joseph J. Keller and published by . This book was released on 2002-12-01 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recovery of Autonomous Underwater Vehicles (AUVs) can often be an autonomous operation itself. In the case of an AUV that is launched and recovered at some significant depth below the surface, the recovery platform to which the vehicle will dock is often not a stationary platform. The recovery cage/platform has dynamics associated with it, which are induced by wave motion effects on the ship to which the cage is tethered. In order to successfully recover a vehicle into a cage platform it will be preferred for the vehicle to have the capability to compensate for this motion when making its final approach to the cage. Using active compensation, a smaller cage can be utilized for recovery of an AUV. This research attempts to investigate a means by which a vehicle may be made to track, in depth, dynamic motion with zero phase lag between the vehicle and the recovery platform utilizing an error space controller.

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 Control System Design and Development for the Remus Autonomous Underwater Vehicle written by D. E. Sgarioto and published by . This book was released on 2007 with total page 73 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Field and Service Robotics written by Christian Laugier and published by Springer Science & Business Media. This book was released on 2008-04-24 with total page 589 pages. Available in PDF, EPUB and Kindle. Book excerpt: This books presents the results of the 6th edition of "Field and Service Robotics" FSR03, held in Chamonix, France, July 2007. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience. This book offers a collection of a broad range of topics including: Underwater Robots and Systems, Autonomous Navigation for Unmanned Aerial Vehicles, Simultaneous Localization and Mapping, and Climbing Robotics.

Download or read book Tracking Control for a Formation of Autonomous Underwater Vehicles written by John Gornowich and published by . This book was released on 2010 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicles (AUVs) are being implemented for a multitude of military and commercial applications, as well as scientific research and surveying. Because of the environment that these vehicles are tasked to perform duties in, there is a need for guidance and control schemes that are precise, yet robust. There are still major research efforts underway in the areas of system identification, modeling, control, and optimization to enhance the autonomy of these vehicles. This will allow for more advanced control schemes while maintaining the robustness that is required to operate in a diverse and hazardous environment such as the ocean. Previous control algorithms for commercially available AUVs have been generally restricted to tracking straight-line trajectories between predetermined waypoints. These vehicles will typically employ an additional control technique that allows for obstacle determination and avoidance. Again, this is generally limited to a simple line of sight detection and preprogrammed avoidance maneuver. An even less abundant and mature group of control schemes is available for a cooperative technique by a group of AUVs to accomplish a common goal. This thesis addresses the development of a robust suboptimal tracking control algorithm that will efficiently and effectively track an identifiable target while maintaining a formation with cooperating vehicles. This work will examine the possibility of utilizing a common LTI control scheme for maneuvering the actual nonlinear vehicle model. It will also investigate a simple heuristic approach to determining how to track a given target, as well as in what formation to maintain the group structure.

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 Autonomous Underwater Vehicles written by Sabiha Wadoo and published by CRC Press. This book was released on 2017-12-19 with total page 165 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.

Download or read book Motion Control of Autonomous Underwater Vehicles Using Advanced Model Predictive Control Strategy written by Chao Shen and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The increasing reliance on oceans, rivers and waterways in a spectrum of human activities have demonstrated the large demand for advanced marine technologies that facilitate multifarious in-water services and tasks. The autonomous underwater vehicle (AUV) is a representative marine technology which has been contributing continuously to many ocean-related fields. An elaborate control system is essential to AUVs. However, AUVs present difficult control system design problems due to their nonlinear dynamics, the unpredictable environment and the poor knowledge about the hydrodynamic coupling of the vehicle degrees of freedom. When designing the motion controller, the practical constraints on the AUV system such as limited perceiving, computing and actuating capabilities should also be respected. The model predictive control (MPC) is an advanced control technology that leverages optimization to calculate the control command. Thanks to the optimization nature, MPC can conveniently handle the complex nonlinearity in system dynamics as well as the state and control constraints. MPC takes the receding horizon control paradigm which gains satisfactory robustness against model uncertainties and external disturbances. Therefore, MPC is an ideal candidate for solving the AUV motion control problems. On the other hand, since the optimization is solved by iterative numerical algorithms, the obtained control signal is an implicit function of the system state, which complicates the characterization of the closed-loop properties. Moreover, the nonlinear system dynamics makes the online optimization nonlinear programming (NLP) problems. The high computational complexity may cause an issue on the real-time control for embedded platforms with limited computing resources. In order to push the advanced MPC technology towards real-world AUV applications, this PhD dissertation is concerned with fundamental AUV motion control problems and attempts to address the aforementioned challenges and provide novel solutions. This dissertation proceeds with Chapter 1 by providing state-of-the-art introductions to related research areas. The mathematical model used for the AUV motion control is elaborated in Chapter 2. In Chapter 3, we consider the AUV navigation and control problem in constrained workspace. A unified receding horizon optimization framework consisting of the dynamic path planning and the nonlinear model predictive control (NMPC) tracking control is developed. Although the NMPC tracking controller well accommodates the practical constraints on the AUV system, it presents a brand new design philosophy compared with the existing control systems that are implemented on real AUVs. Since the existing AUV control systems are reliable controllers, AUV practitioners tend not to fully replace them but to improve the control performance by adding features. By considering this, in Chapter 4, we develop the Lyapunov-based model predictive control (LMPC) scheme which builds on the existing AUV control system and invoke online optimization to improve the control performance. Chapter 5 focuses on the path following (PF) problem. Unlike the trajectory tracking control which equally emphasizes the spatial and temporal control objectives, the PF control often prioritizes the path convergence over the speed assignment. To incorporate this objective prioritization into the controller design, a novel multi-objective model predictive control (MOMPC) scheme is developed. While the MPC technique provides several salient features (e.g., optimality, constraints handling, objective prioritization, robustness, etc.), those features come at a price: a computational bottleneck is formed by the heavy burden of solving online optimizations in real time. To explicitly address this issue, in Chapter 6, the computational complexity of the MPC algorithms is particularly emphasized. Two novel strategies which potentially alleviate the computational burden of the MPC-based AUV tracking control are proposed. In Chapter 7, some conclusive remarks are provided and a few avenues for future research are identified.

Download or read book Precision Control and Maneuvering of the Phoenix Autonomous Underwater Vehicle for Entering a Recovery Tube written by Duane T. Davis and published by . This book was released on 1996-09-01 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: Because of range limitations imposed by speed and power supplies, covert launch and recovery of Autonomous Underwater Vehicles (AUVs) near the operating area will be required for their use in many military applications. This thesis documents the implementation of precision control and planning facilities on the Phoenix AUV that will be required to support recovery in a small tube and provides a preliminary study of issues involved with AUV recovery by submarines. Implementation involves the development of low-level behaviors for sonar and vehicle control, mid-level tactics for recovery planning, and a mission planning system for translating high-level goals into an executable mission. Sonar behaviors consist of modes for locating and tracking objects, while vehicle control behaviors provide the ability to drive to and maintain a position relative to a tracked object. Finally, a mission-planning system allowing graphical specification of mission objectives and recovery parameters is implemented. Results of underwater virtual world and in-water testing show that precise AUV control based on sonar data and its use by higher-level tactics to plan and control recovery. Additionally, the mission-planning expert system has been shown to reduce mission planning time by approximately two thirds and results in missions with fewer logical and programming errors than manually generated missions.

Download or read book Verification of a 6 degree of Freedom Simulation Model for the REMUS AUV written by Timothy Jason Prestero and published by . This book was released on 2001 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mproving the performance of modular, low-cost autonomous underwater vehicles (AUVs) in such applications as long-range oceanographic survey, autonomous docking, and shallow-water mine countermeasures requires improving the vehicles' maneuvering precision and battery life. These goals can be achieved through the improvement of the vehicle control system. A vehicle dynamics model based on a combination of theory and empirical data would provide an efficient platform for vehicle control system development, and an alternative to the typical trial-and-error method of vehicle control system field tuning. As there exists no standard procedure for vehicle modeling in industry, the simulation of each vehicle system represents a new challenge. Developed by von Alt and associates at the Woods Hole Oceanographic Institute, the REMUS AUV is a small, low-cost platform serving in a range of oceanographic applications. This thesis describes the development and verification of a six degree of freedom, non-linear simulation model for the REMUS vehicle, the first such model for this platform. In this model, the external forces and moments resulting from hydrostatics, hydrodynamic lift and drag, added mass, and the control inputs of the vehicle propeller and fins are all defined in terms of vehicle coefficients. This thesis describes the derivation of these coefficients in detail. The equations determining the coefficients, as well as those describing the vehicle rigid-body dynamics, are left in non-linear form to better simulate the inherently non-linear behavior of the vehicle. Simulation of the vehicle motion is achieved through numeric integration of the equations of motion. The simulator output is then checked against vehicle dynamics data collected in experiments performed at sea. The simulator is shown to accurately model the motion of the vehicle.

Download or read book Navigation and Target Localization Performance of the AUV Remote Environmental Measuring UnitS written by Christopher John Cassidy and published by . This book was released on 2000 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: