Download or read book Cooperative Control of Autonomous Underwater Vehicles written by Elizabeth Savage and published by . This book was released on 2004 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The proposed project is the simulation of a system to search for air vehicles which have splashed-down in the ocean. The system comprises a group of 10+ autonomous underwater vehicles, which cooperate in order to locate the aircraft. The search algorithm used in this system is based on a quadratic Newton method and was developed at Sandia National Laboratories. The method has already been successfully applied to several two dimensional problems at Sandia. The original 2D algorithm was converted to 3D and tested for robustness in the presence of sensor error, position error and navigational error. Treating the robots as point masses, the system was found to be robust for all such errors. Several real-life adaptations were necessary. A round-robin communication strategy was implemented on the system to properly simulate the dissemination of information throughout the group. Time to convergence is delayed but the system still functioned adequately. Once simulations for the point masses had been exhausted, the dynamics of the robots were included. The robot equations of motion were described using Kane's equations. Path-planning was investigated using optimal control methods. The Variational Calculus approach was attempted using a line search tool "fsolve" found in Matlab and a Genetic Algorithm. A dynamic programming technique was also investigated using a method recently developed by Sandia National Laboratories. The Dynamic Programming with Interior Points (DPIP) method was a very effcient method for path planning and performed well in the presence of system constraints. Finally all components of the system were integrated. The motion of the robot exactly matched the motion of the particles, even when subjected to the same robustness tests carried out on the point masses. This thesis provides exciting developments for all types of cooperative projects.

Download or read book Cooperative Control and Fault Recovery for Network of Heterogeneous Autonomous Underwater Vehicles written by Maria Enayat and published by . This book was released on 2017 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this thesis is to develop cooperative recovery control schemes for a team of heterogeneous autonomous underwater vehicles (AUV). The objective is to have the network of autonomous underwater vehicles follow a desired trajectory while agents maintain a desired formation. It is assumed that the model parameters associated with each vehicle is different although the order of the vehicles are the same. Three cooperative control schemes based on dynamic surface control (DSC) technique are developed. First, a DSC-based centralized scheme is presented in which there is a central controller that has access to information of all agents at the same time and designs the optimal solution for this cooperative problem. This scheme is used as a benchmark to evaluate the performance of other schemes developed in this thesis. Second, a DSC-based decentralized scheme is presented in which each agent designs its controller based on only its information and the information of its desired trajectory. In this scheme, there is no information exchange among the agents in the team. This scheme is also developed for the purpose of comparative studies. Third, two different semi-decentralized or distributed schemes for the network of heterogeneous autonomous underwater vehicles are proposed. These schemes are a synthesis of a consensus-based algorithm and the dynamic surface control technique with the difference that in one of them the desired trajectories of agents are used in the consensus algorithm while in the other the actual states of the agents are used. In the former scheme, the agents communicate their desired relative distances with the agents within their set of nearest neighbors and each agent determines its own control trajectory. In this semi-decentralized scheme, the velocity measurements of the virtual leader and all the followers are not required to reach the consensus formation. However, in the latter, agents communicate their relative distances and velocities with the agents within their set of nearest neighbors. In both semi-decentralized schemes only a subset of agents has access to information of a virtual leader. The comparative studies between these two semi-decentralized schemes are provided which show the superiority of the former semi-decentralized scheme over latter. Furthermore, to evaluate the efficiency of the proposed DSC-based semi-decentralized scheme with consensus algorithm using desired trajectories, a comparative study is performed between this scheme and three cooperative schemes of model-dependent coordinated tracking algorithm, namely the centralized, decentralized, and semi-decentralized schemes. Given that the dynamics of autonomous underwater vehicles are inevitably subjected to system faults, and in particular the actuator faults, to improve the performance of the network of agents, active fault-tolerant control strategies corresponding to the three developed schemes are also designed to recover the team from the loss-of-effectiveness in the actuators and to ensure that the closed-loop signals remain bounded and the team of heterogeneous autonomous underwater vehicles satisfy the overall design specifications and requirements. The results of this research can potentially be used in various marine applications such as underwater oil and gas pipeline inspection and repairing, monitoring oil and gas pipelines, detecting and preventing any oil and gas leakages. However, the applications of the proposed cooperative control and its fault-tolerant scheme are not limited to underwater formation path-tracking and can be applied to any other multi-vehicle systems that are characterized by Euler-Lagrange equations.

Download or read book Cooperative Control and Optimization of Autonomous Surface and Underwater Platforms in Complex Marine Environments written by Boris Braginsky and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: "Autonomous Underwater Vehicles (AUVs) have become an important tool for the exploration of the secret undersea world. They are widely used in the areas of oceanographic, commercial and military research and have been employed to inspect pipelines. Today, the main task performed by AUVs is data logging, where a major drawback lies in the fact that the data is only available to the operator at the end of the mission. Since most AUVs are only capable of performing noncomplex unsupervised missions, most operators remain within a range of acoustic telemetry systems to maintain a close watch on their precious asset. However, with the increased utilization of these vehicles in subsea applications in recent years, the development of sophisticated AUVs has become a high priority research area and the need to enhance platform efficiency has become urgent. In this research, we consider AUVs that are described by a multi-variable, highly non-linear system, whose coupled dynamic effects depend on complicated hydrodynamic generalized forces and variables. Cooperation techniques that take into account the vehicle dynamics and sensor modalities were studied. The modeled system is based on state-of-the-art sensor arrays and microelectronic circuits and includes advanced hardware for real-time data processing. The dynamic and hydrodynamic variables of the system, as well as cooperative control strategies, are investigated. The control laws are implemented using advanced sensing systems, including cameras and ultrasound, Global Position System (GPS), Doppler Velocity Log (DVL) and Inertial Measurement Unit (IMU) devices. These sensors are designed to provide accurate information on vehicle location, trajectories, velocity and orientation with respect to the North. The primary objective of the research was to find ways to enhance the capabilities of fleets of AUVs by cooperation between them." -- From the astract.

Download or read book Cooperative Control of Dynamical Systems written by Zhihua Qu and published by Springer Science & Business Media. This book was released on 2009-02-07 with total page 335 pages. Available in PDF, EPUB and Kindle. Book excerpt: Stability theory has allowed us to study both qualitative and quantitative properties of dynamical systems, and control theory has played a key role in designing numerous systems. Contemporary sensing and communication n- works enable collection and subscription of geographically-distributed inf- mation and such information can be used to enhance signi?cantly the perf- manceofmanyofexisting systems. Throughasharedsensing/communication network,heterogeneoussystemscannowbecontrolledtooperaterobustlyand autonomously; cooperative control is to make the systems act as one group and exhibit certain cooperative behavior, and it must be pliable to physical and environmental constraints as well as be robust to intermittency, latency and changing patterns of the information ?ow in the network. This book attempts to provide a detailed coverage on the tools of and the results on analyzing and synthesizing cooperative systems. Dynamical systems under consideration can be either continuous-time or discrete-time, either linear or non-linear, and either unconstrained or constrained. Technical contents of the book are divided into three parts. The ?rst part consists of Chapters 1, 2, and 4. Chapter 1 provides an overview of coope- tive behaviors, kinematical and dynamical modeling approaches, and typical vehicle models. Chapter 2 contains a review of standard analysis and design tools in both linear control theory and non-linear control theory. Chapter 4 is a focused treatment of non-negativematrices and their properties,multipli- tive sequence convergence of non-negative and row-stochastic matrices, and the presence of these matrices and sequences in linear cooperative systems.

Download or read book Cooperative Control of Unmanned Surface Vessels and Unmanned Underwater Vessels for Asset Protection written by Gabriel Ying Kit Tang and published by . This book was released on 2015 with total page 118 pages. Available in PDF, EPUB and Kindle. Book excerpt: This project focused on the development of a control system for a heterogeneous swarm of unmanned surface vessels (USVs) and unmanned underwater vehicles (UUVs) used for asset protection. The control system utilizes a hybrid control scheme, relying on both behavior-based and systems-theoretic concepts. Under this hybrid approach, the swarm is provided with better adaptability, robustness, and overall performance than it would possess under either of these methods alone. Simulations demonstrate the efficacy of the controller for the primary task (asset protection) as well as several secondary tasks. The first part of this project focused on generating the capability functions, designing the primary and secondary controller and utilizing simulations in different environments to ensure that the controller works as desired. The second part of the project then focused on the hybrid aspect of the swarm, where long baseline technique were used in order to localize the UUV and to mitigate capability degradation in the sub-surface domain. The ability to interdict targets on the surface and the sub-surface was also considered and included as part of the capability control system. The results of this experiment provide a robust, adaptable, and highly mission-capable control system for a cooperative swarm of USVs and UUVs. This in turn will provide the foundation for future systems of a cooperative nature.

Download or read book Stabilization Tracking and Formation Control of Autonomous Marine Vessels written by Ge Guo and published by Springer Nature. This book was released on 2021-12-15 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on autonomous marine vessel systems and control approaches. In particular, it mainly contains modeling, analysis and control design methodologies for covert stabilization control, trajectory tracking control, and cooperative formation control of AMVs. The comprehensive and systematic treatment of practical issues in autonomous marine vessel systems is one of the book’s significant features, particularly suited for readers interested in learning control problems in AMV and other related topic areas like mobile robots and vehicles. The book can benefit researchers, engineers, and graduate students in mathematical skills, methodologies, and algorithms needed in the analysis and control design for tracking and stabilization, cooperative control of surface vessels and underwater vehicles. Through the book, readers can have a deeper understanding of such fields.

Download or read book Collective Dynamics and Control of a Fleet of Heterogeneous Marine Vehicles written by Chuanfeng Wang and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Cooperative control enables combinations of sensor data from multiple autonomous underwater vehicles (AUVs) so that multiple AUVs can perform smarter behaviors than a single AUV. In addition, in some situations, a human-driven underwater vehicle (HUV) and a group of AUVs need to collaborate and preform formation behaviors. However, the collective dynamics of a fleet of heterogeneous underwater vehicles are more complex than the non-trivial single vehicle dynamics, resulting in challenges in analyzing the formation behaviors of a fleet of heterogeneous underwater vehicles. The research addressed in this dissertation investigates the collective dynamics and control of a fleet of heterogeneous underwater vehicles, including multi-AUV systems and systems comprised of an HUV and a group of AUVs (human-AUV systems). This investigation requires a mathematical motion model of an underwater vehicle. This dissertation presents a review of a six-degree-of-freedom (6DOF) motion model of a single AUV and proposes a method of identifying all parameters in the model based on computational fluid dynamics (CFD) calculations. Using the method, we build a 6DOF model of the EcoMapper and validate the model by field experiments. Based upon a generic 6DOF AUV model, we study the collective dynamics of a multi-AUV system and develop a method of decomposing the collective dynamics. After the collective dynamics decomposition, we propose a method of achieving orientation control for each AUV and formation control for the multi-AUV system. We extend the results and propose a cooperative control for a human-AUV system so that an HUV and a group of AUVs will form a desired formation while moving along a desired trajectory as a team. For the post-mission stage, we present a method of analyzing AUV survey data and apply this method to AUV measurement data collected from our field experiments carried out in Grand Isle, Louisiana in 2011, where AUVs were used to survey a lagoon, acquire bathymetric data, and measure the concentration of reminiscent crude oil in the water of the lagoon after the BP Deepwater Horizon oil spill in the Gulf of Mexico in 2010.

Download or read book Sensing and Control for Autonomous Vehicles written by Thor I. Fossen and published by Springer. This book was released on 2017-05-26 with total page 513 pages. Available in PDF, EPUB and Kindle. Book excerpt: This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students.

Download or read book Time Critical Cooperative Control of Autonomous Air Vehicles written by Isaac Kaminer and published by Butterworth-Heinemann. This book was released on 2017-08-02 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: Time-Critical Cooperative Control of Autonomous Air Vehicles presents, in an easy-to-read style, the latest research conducted in the industry, while also introducing a set of novel ideas that illuminate a new approach to problem-solving. The book is virtually self-contained, giving the reader a complete, integrated presentation of the different concepts, mathematical tools, and control solutions needed to tackle and solve a number of problems concerning time-critical cooperative control of UAVs. By including case studies of fixed-wing and multirotor UAVs, the book effectively broadens the scope of application of the methodologies developed. This theoretical presentation is complemented with the results of flight tests with real UAVs, and is an ideal reference for researchers and practitioners from academia, research labs, commercial companies, government workers, and those in the international aerospace industry. Addresses important topics related to time-critical cooperative control of UAVs Describes solutions to the problems rooted in solid dynamical systems theory Applies the solutions developed to fixed-wing and multirotor UAVs Includes the results of field tests with both classes of UAVs

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 Support Platform and Communications to Manage Cooperative AUV Operations written by and published by . This book was released on 2006 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: For the testing of control and communications algorithms in cooperative behavior, a fleet of autonomous underwater vehicles (AUVs) is under development by the University of Idaho. This paper discusses one piece of the puzzle in this fleet: the communications module to manage multiple agents. The communications system provides multiple modes of operation. Different communications mediums to and from the vehicle support these modes of operation. The tools supplied by the different modes of operation assist the researchers in developing communications, control algorithms, and valuable hardware systems.

Download or read book Network Based Control of Unmanned Marine Vehicles written by Yu-Long Wang and published by Springer Nature. This book was released on 2023-05-02 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a comprehensive analysis of stability, stabilization, and fault detection in networked control systems, with a focus on unmanned marine vehicles. It investigates the challenges of network-based control in areas like heading control, fault detection filter and controller design, dynamic positioning, and cooperative target tracking. Communication networks in control systems can induce delays and dropouts, so the book presents the importance of stability analysis, stabilize, and fault detection. To help readers gain a deeper understanding of these concepts, the book provides fundamental concepts and real-world examples. This book is a valuable resource for researchers and practitioners working in the field of network-based control for unmanned marine vehicles.

Download or read book Cooperative Control written by Vijay Kumar and published by Springer Science & Business Media. This book was released on 2004-10-20 with total page 310 pages. Available in PDF, EPUB and Kindle. Book excerpt: Are there universal principles of coordinated group motion and if so what might they be? This carefully edited book presents how natural groupings such as fish schools, bird flocks, deer herds etc. coordinate themselves and move so flawlessly, often without an apparent leader or any form of centralized control. It shows how the underlying principles of cooperative control may be used for groups of mobile autonomous agents to help enable a large group of autonomous robotic vehicles in the air, on land or sea or underwater, to collectively accomplish useful tasks such as distributed, adaptive scientific data gathering, search and rescue, or reconnaissance.

Download or read book Cooperative Control of Collective Motion for Ocean Sampling with Autonomous Vehicles written by Derek A. Paley and published by . This book was released on 2007 with total page 548 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cooperative control is an emerging engineering field infused with biology, mathematics, and physics. Cooperative control engineers seek decentralized algorithms to coordinate the motion of robotic vehicles. These algorithms---often inspired by animal and insect grouping behavior---are relevant to applications in national security, geographic surveying, and environmental monitoring. This dissertation studies motion control for autonomous data collection by a network of underwater vehicles. Measurements of ocean circulation enable scientists to study climate processes and ecosystems in the ocean.

Download or read book Underwater Vehicle Control and Communication Systems Based on Machine Learning Techniques written by Tien Anh Tran and published by CRC Press. This book was released on 2023-12-04 with total page 191 pages. Available in PDF, EPUB and Kindle. Book excerpt: The development of intelligent transportation systems, especially autonomous underwater vehicles, has become significant in marine engineering, with an aim to enhance energy efficiency management and communication systems. This book covers different aspects of optimization of autonomous underwater vehicles and their propulsion systems via machine learning techniques. It further analyses hydrodynamic characteristics including the study of experimental investigation combined with hydrodynamic characteristics backed by MATLAB® codes and simulation study results. Features: Covers utilization of machine learning techniques with a focus on marine science and ocean engineering. Details effect of the intelligent transportation system (ITS) into the sustainable environment and ecology system. Evaluates performance of particle swarm intelligence-based optimization techniques. Reviews propulsion performance of the remote-controlled vehicles based on machine learning techniques. Includes MATLAB® examples and simulation study results. This book is aimed at graduate students and researchers in marine engineering and technology, computer science, and control system engineering.

Download or read book Enhancing Cooperative Behavior of Autonomous Underwater Vehicles with Language written by Andrew Rajala and published by . This book was released on 2006 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Navigation and Control of Autonomous Marine Vehicles written by Sanjay Sharma and published by Institution of Engineering and Technology. This book was released on 2019-06-26 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic marine vessels can be used for a wide range of purposes, including defence, marine science, offshore energy and hydrographic surveys, and environmental surveys and protection. Such vessels need to meet a variety of criteria: they must be able to operate in salt water, and to communicate and be controlled over large distances, even when submerged or in inclement weather. Further challenges include 3D navigation of individual vehicles, groups or squadrons. This book covers the current state of research in navigation, modelling and control of marine autonomous vehicles, and deals with various related topics, including collision avoidance, communication, and a range of applications. It provides valuable insights for an audience of researchers, academics and postgraduate students interested in autonomous marine vessels, robotics, and electrical and automobile engineering.