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 Proceedings of the 1992 Symposium on Autonomous Underwater Vehicle Technology June 2 and 3 1992 Washington DC USA written by Oceanic Engineering Society (U.S.) and published by . This book was released on 1992 with total page 330 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Proceedings of the 7th International Symposium on Unmanned Untethered Submersible Technology September 23 25 1991 written by University of New Hampshire. Marine Systems Engineering Laboratory and published by . This book was released on 1991 with total page 684 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Government Reports Annual Index written by and published by . This book was released on 1992 with total page 1720 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Underwater Vehicles written by George M. Roman and published by Nova Science Publishers. This book was released on 2020 with total page 109 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 Government Reports Announcements Index written by and published by . This book was released on 1994-09 with total page 612 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book NPS ME 00 003 written by Xavier Dussourd and published by . This book was released on 2000 with total page 81 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Naval Postgraduate School (NPS) is on the leading edge of Autonomous Underwater Vehicle (AUV) research and is currently developing a new AUV named ARIES. AUVs are principally designed to realize reconnaissance missions. To achieve such tasks, they usually utilize precise range-based sonars. Unfortunately, sonars are often unable to provide a good and efficient description of their environment due to the unclear aspect of many sonar images. To overcome such problems, the ARIES vehicle has a video camera to obtain understandable, classifiable images. This project explains the design of the video system installed on the ARIES AUV. The video system allows the AUV to automatically record and to easily understand the images provide by the AUV's camera. In this way, the AUV is now an efficient "witness" of its surroundings. This project then describes how to utilize the video for vehicle navigation. Such a capability is demonstrated by the simulation of the recovery between an AUV and a host submarine, using an underwater beacon and a light-tracking system. These results show that the use of in-water video for contact recording and navigational tracking can be practical and effective.
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 Reactive Obstacle Avoidance for the REMUS Autonomous Underwater Vehicle Utilizing a Forward Looking Sonar written by and published by . This book was released on 2006 with total page 79 pages. Available in PDF, EPUB and Kindle. Book excerpt: One day fully autonomous AUV's will no longer require human interactions to complete its missions. To make this a reality, the AUV must be able to safely navigate in unfamiliar environments with unknown obstacles. This thesis builds on previous work conducted at NPS's Center for AUV Research to improve the autonomy of the REMUS class of AUVs with an implemented FLS. The first part of this thesis deals with accurate path following with the use of look-ahead pitch calculations. With the use of a SIMULINK model, constraints surrounding obstacle avoidance path planning are then explored, focusing on optimal sensor orientation issues. Two path planning methods are developed to address the issues of a limited sonar field of view and uncertainties brought on by an occlusion area. The first approach utilizes a pop-up maneuver to increase the field of view and minimize the occlusion area, while the second approach creates a path with the addition of a spline. Comparing the two methods, it was concluded that spline addition planner provided a robust optimal obstacle avoidance path and along with the look-ahead pitch controller completes the design of a back-seat driver to improve REMUS s survivability in an unknown environment. REMUS, AUV, UUV, Autonomous Underwater Vehicle, Reactive Obstacle Avoidance, Forward Looking Sonar, Vertical Plane, Pitch Controller, Spline, Gaussian, Occlusion, Optimal Sensor Orientation.
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 Real time Scheduling and Synchronization for the NPS Autonomous Underwater Vehicle written by Dionysios Makris and published by . This book was released on 1991 with total page 88 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 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 Acoustic Positioning of the NPS Autonomous Underwater Vehicle AUV II During Hover Conditions written by Kevin A. Torsiello and published by . This book was released on 1994 with total page 118 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ability to take position, in a dynamic environment, relative to a local stationary object, is vital to many planned missions for the Naval Postgraduate School's Autonomous Underwater Vehicle (AUV II) project, such as bottom surveying and mine hunting. The AUV II can achieve this ability through the use of its sensors along with stem propulsion motors and tunnel thrusters. The sensors employed by the AUV II include a free directional gyro and independent self-sonar which provide acoustic positioning data without the aid of a transponder net. Described in this thesis are the details of the internal subsystems of the AUV II, and an examination of its positioning ability through the analysis of maneuvering experiments. Commanded motions of yaw, lateral and longitudinal positioning during hover conditions are studied.
Download or read book Acoustic Positioning of the NPS Autonomous Underwater Vehicle AUV II During Hover Conditions written by Kevin A. Torsiello and published by . This book was released on 1994 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ability to take position, in a dynamic environment, relative to a local stationary object, is vital to many planned missions for the Naval Postgraduate School's Autonomous Underwater Vehicle (AUV II) project, such as bottom surveying and mine hunting. The AUV II can achieve this ability through the use of its sensors along with stem propulsion motors and tunnel thrusters. The sensors employed by the AUV II include a free directional gyro and independent self-sonar which provide acoustic positioning data without the aid of a transponder net. Described in this thesis are the details of the internal subsystems of the AUV II, and an examination of its positioning ability through the analysis of maneuvering experiments. Commanded motions of yaw, lateral and longitudinal positioning during hover conditions are studied.
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 Construction of a Second Generation AUV written by Michael R. Good and published by . This book was released on 1989 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt:
