Download or read book Observability based Maneuver Planner for Autonomous Underwater Vehicles written by 莊易勳 and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

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.

Download or read book Observability Analysis of Autonomous Underwater Vehicles Using Range and Range rate Measurements written by 詹雲如 and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Trajectory Planning for Autonomous Underwater Vehicles written by Clement Petres and published by LAP Lambert Academic Publishing. This book was released on 2010 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: Efficient trajectory planning algorithms are a crucial issue for modern autonomous underwater vehicles. Classical trajectory planning algorithms in artificial intelligence are not designed to deal with wide continuous environments prone to currents. Furthermore torpedo-like underwater vehicles are strongly nonholonomic. A novel Fast Marching based approach is proposed to address the following issues. First, the FM* algorithm is proposed to extend the A* algorithm to the continuous domain. Second, underwater currents are taken into account thanks to an anisotropic extension of the original Fast Marching algorithm. Third, the vehicle turning radius is introduced as a constraint on the curvature of the optimal trajectory for both isotropic and anisotropic media. Furthermore, a dynamic version of the Fast Marching algorithm called DFM is developed to efficiently replan trajectories in dynamic unpredictable environments. The overall Fast Marching based trajectory planning method has been tested on simulated underwater environments and validated on a real experimental platform in open water.

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 108 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 Autonomous Underwater Vehicles written by Sabiha Wadoo and published by CRC Press. This book was released on 2017-12-19 with total page 208 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 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 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 175 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 Towards Combined Task and Motion Planning for Autonomous Underwater Vehicles written by James William McMahon and published by . This book was released on 2016 with total page 123 pages. Available in PDF, EPUB and Kindle. Book excerpt: In oceanic research and development, autonomous underwater vehicles (AUVs) provide scientists with the ability to augment expensive manned operations at a lower cost while simultaneously exploring regions that were previously inaccessible to scientists. While the cost of these AUVs is often nontrivial, the ability to autonomously sample data from varying regions over extended time periods removes the necessity of human operations which require much higher overhead costs. Scientists are now leveraging the unique abilities of AUVs to explore new environments, scientists are now starting to use AUVs to perform sophisticated missions in deep ocean environments, under the polar ice caps, or throughout dangerous minefields in the littoral. The success of these missions, however, depends on the ability of the AUV to autonomously perform complex tasks. Toward this goal, this dissertation seeks to enhance the capabilities of AUVs so that they are able to autonomously plan the high-level actions and the low-level motions needed to accomplish complex missions. A framework is developed which makes it possible to specify such missions in a structured language resembling English, and it automatically plans the actions and motions that the AUV needs to execute in order to accomplish the mission. The mission-specification language is grounded in well-established logical formalisms such as Regular Languages and Linear Temporal Logic. The inherent structure of the mission-specification language makes it possible to construct sophisticated mission such as exploring unknown areas, searching for objects of interest, or collecting data. In doing so, the framework alleviates the burden imposed on human operators who currently need to manually input highly detailed mission specifications into multiple configuration files, which increases the risk for mission failure due to human error. Instead, the framework makes it possible for the human operators to specify the missions in an easy-to-use, structured language. The technical contribution of the dissertation stems from a novel treatment of the combined mission and motion-planning problem as a hybrid search over discrete and continuous layers. Leveraging advances in AI and Robotics, a hybrid-planning framework is developed which combines high-level AI mission planning with low-level sampling-based motion planning. High-level planning, which operates over a discrete and abstract layer, breaks down the overall mission into a sequence of tasks. Sampling-based motion planning conducts a search over the feasible motions of the AUV in order to compute a trajectory that enables the AUV to accomplish each task. When sampling-based motion planning fails to make progress it requests another high-level plan from the AI planning layer. This interplay between high-level discrete planning and sampling-based motion planning is crucial to the success of the framework. The hybrid framework can be used with any AUV. Extensive experiments have been conducted with high-fidelity simulators and real AUVs, such as OceanServer Iver2 AUV and Reliant Bluefin-21 AUV. The experimental results show the ability of the approach to effectively plan collision-free and dynamically-feasible trajectories that enable the AUV to carry out sophisticated missions, such as inspection of numerous areas, data collection, and reacquisition and identification in Mine Countermeasures. The success of the hybrid framework highlight the potential of the approach to enhance the autonomy of AUVs, making it possible to carry out sophisticated missions at a lower operational cost.

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 Trajectory Planning for the Aries AUV written by John J. Keegan and published by . This book was released on 2002-06-01 with total page 116 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis supports ongoing ONR research in the area of Autonomous Underwater Vehicles (AUVs) and Mine Warfare. It shows a simulation of a two- vehicle autonomous rendezvous using both along track and cross track position controllers. Conducting open water experiments with the ARIES AUV identified the added mass matrix and hydrodynamic coefficients of the longitudinal equation of motion. The results indicate that it will be possible to maneuver an AUV to a specific rendezvous point at a specified time. Two-vehicle rendezvous maneuvers are likely to be needed in multi-vehicle operations when data transfer between range-limited communications modems are used.

Download or read book Autonomous Optimal Rendezvous of Underwater Vehicles written by John W. Nicholson and published by . This book was released on 2004-09 with total page 146 pages. Available in PDF, EPUB and Kindle. Book excerpt: The capability of an autonomous underwater vehicle (AUV) to rendezvous with other AUVs was implemented and demonstrated in the Naval Postgraduate School ARIES AUV; providing a method of overcoming the severe range limitations of high-bandwidth underwater data transfer methods in order to enable accelerated access to data collected by a network of data-gathering survey AUVs. Rendezvous was implemented by autonomous reconfiguration of ARIEs' operations, using a mission planning module to combine acoustically-transmitted rendezvous requests from survey AUVs with pre-stored survey AUV mission data to generate rendezvous missions based either on time-optimal or energy-optimal trajectories. The planning module efficiently generates rendezvous trajectories based on solutions derived using optimal control theory. A new third layer of control, based on a finite state machine, was added above ARIEs' autopilot and mission execution functions in order to initiate mission planning and replanning, activate missions, sequence vehicle operations through seven defined states, control acoustic communications, and handle perturbations and missed rendezvous.

Download or read book Partially Observable Markov Decision Processes for Fault Management in Autonomous Underwater Vehicles written by Kathleen Svendsen and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Proposed, is a partially observable Markov decision process (POMDP) model-based schema as the basis of a fault manager system for use by autonomous underwater vehicles (AUV) undergoing long endurance missions with the operator far from the AUV. The thesis explains the reasoning behind using POMDP over traditional static look-up tables at achieve a more autonomous system. The objective was to develop POMDP models for two illustrative AUV sub-systems - depth and power-management. These models were used as fault managers for a series of simulations for each sub-system, individually, and then when there are interactions. This novel solution demonstrated the validity of POMDP as the basis for a fault manager in accounting for the inherent partial observability of AUV states and their environments. Future work aims to expand this with more AUV sub-systems and test on hardware-in-the-loop simulators.

Download or read book A Study of 3 D Visualization and Knowledge Based Mission Planning and Control for the NPS Model 2 Autonomous Underwater Vehicle written by Ray Charles Rogers and published by . This book was released on 1989 with total page 115 pages. Available in PDF, EPUB and Kindle. Book excerpt: Specific tasking/total military mission concepts for subsea tasks have been developed that demand substantially more endurance and range than can be provided by manned submersibles and remotely operated vehicles, respectively. Small autonomous unmanned systems can provide the best combination of speed, endurance, range, depth capacity, and flexibility needed to make these concepts realizable. As the U.S. military has continued to identify more and more tasks that can be performed by autonomous systems, the NPG has heightened its research efforts to develop an experimental autonomous underwater vehicle (AUV) to address these requirements. A series of NPS AUV simulation systems have been developed that couple knowledge-based mission planning and control systems with 3-D visualization (graphics) workstations that communicate across an interprocess communications network. Development of these simulation systems have produced an extremely useful 'laboratory environment' for rapid prototyping of AUV planning, navigation, and control subsystems software. This thesis updates and extends the formats of functionality of the simulation systems to include a Mission Planning and Control Workstation as a prototype for use aboard AUV deployment vessels, upgrades mission profiles, and incorporates improvements to the software interface between the mission planning and control subsystem and the 3-D visualization subsystem. Keywords: Three dimensional display systems; Interactive graphics; Theses.(edc).

Download or read book Mission Planning and Mission Control Software for the Phoenix Autonomous Underwater Vehicle AUV written by Bradley J. Leonhardt and published by . This book was released on 1996-03-01 with total page 253 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Naval Postgraduate School Autonomous Underwater Vehicle (AUV), Phoenix, has a well developed lower level architecture (Execution level) while the upper, Strategic and especially the Tactical, levels need refinement. To be useful in the fleet an easier means of creating mission code for the Strategic level is required. A software architecture needed to be implemented at the Tactical level on-board Phoenix which can accommodate multi-processes, multi- languages, multiprocessors and control hard real time constraints existing at the Execution level. Phoenix also did not have a path replanning capability prior to this thesis. The approach taken is to provide Phoenix a user friendly interface for the autogeneration of human readable mission code and the creation and implementation of a Tactical level control architecture onboard Phoenix to include path replanning. The approach utilizes Rational Behavior Model (RBM) architectural design principles. This thesis focuses on the Officer of the Deck and replanning at the Tactical level, and refinement of the Captain at the Strategic level. While further testing is necessary, Phoenix is now capable of behaving as a truly autonomous vehicle. Results of this thesis show that nontechnical personnel can generate Prolog code to perform missions on-board Phoenix. Path replanning and obstacle avoidance software are also implemented. Most important this thesis demonstrates successful operation of all three levels of the RBM architecture on-board Phoenix.

Download or read book A Sampling based Model Predictive Control Approach to Motion Planning for Autonomous Underwater Vehicles written by Charmane Venda Caldwell and published by . This book was released on 2011 with total page 97 pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT: In recent years there has been a demand from the commercial, research and military industries to complete tedious and hazardous underwater tasks. This has lead to the use of unmanned vehicles, in particular autonomous underwater vehicles (AUVs). To operate inthis environment the vehicle must display kinematically and dynamically feasible trajectories. Kinematic feasibility is important to allow for the limited turn radius of an AUV, while dynamic feasibility can take into consideration limited acceleration and braking capabilities due to actuator limitations and vehicle inertia. Model Predictive Control (MPC) is a method that has the ability to systematically handle multi-input multi-output (MIMO) control problems subject to constraints. It finds the control input by optimizing a cost function that incorporates a model of the system to predict future outputs subject to the constraints. This makes MPC a candidate method for AUV trajectory generation. However, traditional MPC has difficulties in computing control inputs in real time for processes with fast dynamics. This research applies a novel MPC approach, called Sampling-Based Model Predictive Control (SBMPC), to generate kinematically or dynamically feasible system trajectories for AUVs. The algorithm combines the benefits of sampling-based motion planning with MPC while avoiding some of the major pitfalls facing both traditional sampling-based planning algorithms and traditional MPC, namely large computation times and local minimum problems. SBMPC is based on sampling (i.e., discretizing) the input space at each sample period and implementing a goal-directed optimization method (e.g., A?) in place of standard nonlinear programming. SBMPC can avoid local minimum, has only two parameters to tune, and has small computational times that allows it to be used online fast systems. A kinematic model, decoupled dynamic model and full dynamic model are incorporated in SBMPC to generate a kinematic and dynamic feasible 3D path. Simulation results demonstrate the efficacy of SBMPC in guiding an autonomous underwater vehicle from a start position to a goal position in regions populated with various types of obstacles.