Download or read book Coverage Path Planning for Autonomous Underwater Vehicles written by Enric Galceran Yebenes and published by . This book was released on 2014 with total page 205 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book 3 D Coverage Path Planning for Underwater Terrain Mapping written by zongyuan shen and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents an autonomous approach of 3-D coverage of underwater terrain using multi-level coverage trees. An autonomous underwater vehicle (AUV) equipped with multi-beam sonar sensors, Doppler velocity log (DVL) and inertial measurement unit (IMU) sensors is used to achieve this goal. The underwater 3-D search space is represented by a multi-level coverage tree which is generated online based on the obstacle information collected by the AUV. The nodes of the tree correspond to safe sub-areas for AUV navigation which are identified based on obstacle density in neighborhood of free cells. Standard tree traversal strategies like depth-first-search (DFS) and breath-first-search (BFS) are then used for visiting all the nodes of the tree thus securing complete coverage of the 3-D space. The terrain data collected by the AUV during tree coverage is used offline for the 3-D reconstruction of seabed using alpha shapes algorithm. The performance of this method is validated using a high-fidelity underwater simulator UWSim based on Robot Operating System (ROS). The simulations show that the proposed methodology achieves complete coverage and accurate reconstruction of 3-D underwater terrain.

Download or read book Guidance Control and Path Planning for Autonomous Underwater Vehicles written by Kantapon Tanakitkorn and published by . This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Path Planning Algorithms Autonomous Underwater Vehicles written by Madhusmita Panda and published by . This book was released on 2023-04-16 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The underwater environment plays a significant part in the path planning of AUVs. The sea environment is subjected to a large set of challenging factors such as atmospheric factors, coastal factors and gravitational factors . Atmospheric factors include winds, sunlight and precipitation. Coastal factors deal with rivers, glaciers, whereas gravitational factors include earth rotation, seabed and tides. Navigation of an AUV is majorly affected by wind-generated waves, wind and oceanic current.

Download or read book Path Planning Methods for AUVs written by Konuralp Yiğit and published by . This book was released on 2011 with total page 81 pages. Available in PDF, EPUB and Kindle. Book excerpt: From naval operations to ocean science missions, the importance of autonomous vehicles is increasing with the advances in underwater robotics technology. Due to the dynamic and intermittent underwater environment and the physical limitations of autonomous underwater vehicles, feasible and optimal path planning is crucial for autonomous underwater operations. The objective of this thesis is to develop and demonstrate an efficient underwater path planning algorithm based on the level set method. Specifically, the goal is to compute the paths of autonomous vehicles which minimize travel time in the presence of ocean currents. The approach is to either utilize or avoid any type of ocean flows, while allowing for currents that are much larger than the nominal vehicle speed and for three-dimensional currents which vary with time. Existing path planning methods for the fields of ocean science and robotics are first reviewed, and the advantages and disadvantages of each are discussed. The underpinnings of the level set and fast marching methods are then reviewed, including their new extension and application to underwater path planning. Finally, a new feasible and optimal time-dependent underwater path planning algorithm is derived and presented. In order to demonstrate the capabilities of the algorithm, a set of idealized test-cases of increasing complexity are first presented and discussed. A real three-dimensional path planning example, involving strong current conditions, is also illustrated. This example utilizes four-dimensional ocean flows from a realistic ocean prediction system which simulate the ocean response to the passage of a tropical storm in the Middle Atlantic Bight region.

Download or read book Online Path Planning for Autonomous Underwater Vehicles Under Motion Constraints written by Juan David Hernández Vega and published by . This book was released on 2017 with total page 118 pages. Available in PDF, EPUB and Kindle. Book excerpt: The most common applications of autonomous underwater vehicles (AUVs) include imaging and inspecting different kinds of structures on the sea. Most of these applications require a priori information of the area or structure to be inspected, either to navigate at a safe and conservative altitude or to 2/2 pre-calculate a survey path. However, there are other applications where it's unlikely that such information is available (e.g., exploring confined natural environments like underwater caves). In this respect, this thesis presents an approach that endows an AUV with the capabilities to move through unexplored environments. To do so, it proposes a computational framework for planning feasible and safe paths online. This approach allows the vehicle to incrementally build a map of the surroundings, while simultaneously (re)plan a feasible path to a specified goal. The framework takes into account motion constraints in planning feasible paths, i.e., those that meet the vehicle's motion capabilities.

Download or read book Underwater Multi dimensional Path Planning for the Naval Postgraduate School Autonomous Underwater Vehicle II written by Joseph Bonsignore and published by . This book was released on 1991 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Autonomous Underwater Vehicle AUV Path Planning and Adaptive On board Routing for Adaptive Rapid Environmental Assessment written by Ding Wang (Ph. D.) and published by . This book was released on 2007 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: (Cont.) As a special case, a thermocline- oriented AUV yoyo control and control parameter optimization methods for AREA are also developed. Finally, some AUV control algorithms for capturing fronts are developed. A frame-work for real-time TL forecasts is developed. This is the first time that TL forecasts have been linked with ocean forecasts in real-time. All of the above ideas and methods developed were tested in two experiments, FAF05 in the northern Tyrrhenian Sea in 2005 and MB06 in Monterey Bay, CA in 2006. The latter MB06 sea exercise was a major field experiment sponsored by the Office of Naval Research and the thesis compiles significant findings from this effort.

Download or read book Path Planning with Homotopic Constraints for Autonomous Underwater Vehicles written by Emili Hernàndez Bes and published by . This book was released on 2012 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Path Planning of AUVs for Adaptive Sampling written by Namik Kemal Yilmaz and published by . This book was released on 2005 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: (Cont.) A real-world problem is also solved by the second method taking two different approaches. The first approach (static approach) involves a three-day-long adaptive sampling mission using the uncertainty information available on the first day. The second approach (dynamic approach) involves updating of the uncertainty information for each day using data assimilation features of the Harvard Ocean Prediction System and the Error Subspace Statistical Estimation system. The dynamic method is illustrative of how path planning for adaptive sampling fits into modern dynamic data driven oceanography. The results from the dynamic approach show that the uncertainty of the forecast decreases and becomes confined to a smaller region, indicating the strength of the method.

Download or read book Navigation and Path planning of Micro autonomous Underwater Vehicles in Enclosed and Cluttered Underwater Environments written by Yibin Peng and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Adaptive Path Planning for an Autonomous Marine Vehicle Performing Cooperative Navigation for Autonomous Underwater Vehicle written by Jonathan Hudson and published by . This book was released on 2012 with total page 408 pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT: Adaptive path planning of an autonomous marine vehicle (surface or subsurface) in the role of a communication and navigation aid (CNA) for multiple autonomous underwater vehicles (AUVs) for survey missions is studied. This path planning algorithm can be run before deployment, based on the planned paths of the survey AUVs, or underway, based on information transmitted by the survey AUVs. The planner considers the relative depth of the CNA and survey AUVs (not previously done) allowing the CNA to better aid survey AUVs that maintain a set distance over the ocean floor while surveying. Results are presented from simulations and in-water trials for both pre-deployment and underway planning modes, the latter being preferred since it can adapt to the survey AUV path during the mission. The necessity of bounding the distance between the CNA and any survey AUV in order to bound survey AUV position error is also described.

Download or read book Path Planning for an Identification Mission of an Autonomous Underwater Vehicle in a Lemniscate Form written by Ayushman Barua and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Der Fokus der vorliegenden Arbeit diskutierten Forschungsarbeit liegt auf der Entwicklung eines Algorithmus für ein Autonomous Underwater Vehicle (AUV), um ein fortschrittliches autonomes Verhalten zu ermöglichen. Die Aufgabe des AUV ist die Inspektion, Überwachung und visuelle Identifizierung von Objekten wie beispielsweise Schiffswracks, Ölpipelines, Leichen und nicht detonierter Kampfmittel, die durch das vorausschauende oder das seitliche Scan-Sonar detektiert werden. Der Entwurf des Algorithmus beinhaltet auch eine effiziente Strömungskorrektur und die Aufrechterhaltung des Fahrtweges des AUV. Der Algorithmus wurde auf SeaCat AUV implementiert und von ATLAS ELEKTRONIK GmbH entwickelt. Um gründliche und detaillierte Daten des zu untersuchenden Objekts zu erhalten, muss das Fahrzeug aus verschiedenen Richtungen mehrere Überfahrten durchführen. Die ausgewählte Trajektorie nimmt die Form einer lemniskatenförmigen Kurve an. Die Kurve ist adaptiv, was bedeutet, dass sie einen glatten Übergang hat und gedreht werden kann, um sich der Richtung des Meeresstroms und der Annäherungsrichtung an das interessierende Objekt anzupassen. Die Mitte dieser Kurve wird automatisch über dem Objekt positioniert. Der Referenzkurs und die Geschwindigkeit des AUV werden ebenfalls auf adaptive Weise berechnet, wobei Richtung und Stärke der Strömung und die Orientierung des Fahrzeugs in Bezug zu dieser berücksichtigt werden. Der Algorithmus berechnet Fahrtrichtung und Geschwindigkeiten kontinuierlich über die gesamte Trajektorie, sodass der Drift aufgrund der Strömung ausgeglichen wird. Eine bekannte Methode, die "Jagd auf das Kaninchen", wird verwendet, um den durch die Strömung verursachten Querspurfehler abzuschätzen. Diese Methode platziert ein virtuelles Ziel, welches Kaninchen genannt wird und sich vor der aktuellen Position des AUV entlang der gewünschten Trajektorie bewegt. Die Forschung muss Lösungen für die folgenden vier Hauptherausforderungen finden: Erstens eine genaue Schätzung der Strömung unter Verwendung von DVL-Daten; zweitens die Berechnung der aktuellen Position des AUV und der Position des detektierten Objekts in Verbindung mit der Fähigkeit, das AUV in Richtung des zu untersuchenden Ziels zu führen; drittens die Platzierung des virtuellen Punkts für das AUV; viertens die Korrektur des AUV-Steuerkurses auf der Grundlage der Strömung, um den Spurfehler zu kompensieren.

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 97 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 A Mission Planning Expert System with Three Dimensional Path Optimization for the NPS Model 2 Autonomous Underwater Vehicle written by Seow Meng Ong and published by . This book was released on 1990 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned vehicle technology has matured significantly over the last two decades. This is evidenced by its widespread use in industrial and military applications ranging from deep-ocean exploration to anti-submarine warfare. Indeed, the feasibility of short range, special-purpose vehicles (whether autonomous or remotely operated) is no longer in question. The research efforts have now begun to shift their focus on development of reliable, longer range, high-endurance and fully autonomous systems. One of the major underlying technologies required to realize this goal is Artificial Intelligence (AI). The latter offers great potential to endow vehicles with the intelligence needed for fully automated and extended range capability; this involves the increased application of AI techniques to support mission planning and execution, navigation and contingency planning. This thesis addresses two issues associated with the above goal for Autonomous Underwater Vehicles (AUV's). Firstly, a new approach is proposed for path planning in underwater environments that is capable of dealing with uncharted obstacles and which requires significantly less planning time and computer memory. Secondly, it explores the use of expert system technology in the planning of AUV missions. (KR).

Download or read book Observability Based Path Planning in Range only Localization written by Jake D. Quenzer and published by . This book was released on 2013 with total page 56 pages. Available in PDF, EPUB and Kindle. Book excerpt: The motivations of oceanographic research have driven the development of autonomous underwater vehicles (AUVs) now capable of great feats of autonomy and endurance. It is anticipated that the future of autonomous oceanographic surveys will be conducted with mixed teams of vehicles that will reduce cost and improve data quality. In a commonly proposed scenario, a scientific survey is carried out by a group of low-cost, simplistic AUVs while a more capable vehicle tends to the group; providing communication and navigation assistance. The goal of this thesis is to explore path planning methods for the aid vehicle that aim to improve localization performance experienced by survey vehicles. The two planning methods proposed make use of local observability measures to decide an aid vehicle's steering control. Simulations are conducted to test both methods against typical survey missions to investigate their efficacy in improving localization performance.

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.