Download or read book Vision based Target Tracking and Navigation System for Autonomous Underwater Vehicles written by Fan Yang and published by . This book was released on 2002 with total page 101 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 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:
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 Vision Based Target Tracking for Autonomous Vehicles written by Zhen Jia and published by . This book was released on 2006 with total page 251 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-21 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.
Download or read book Underwater Vehicles written by Alexander Inzartsev and published by BoD – Books on Demand. This book was released on 2009-01-01 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt: For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties.
Download or read book Dynamic Modeling and Vision Based Mobile Target Tracking in UAVs Using Wide FOV Cameras written by Mohsen Majnoon and published by . This book was released on 2016 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control of unmanned aerial vehicles is a very active topic in research with lots of applications ranging from civilian to military. To control a UAV, its attitude is often controlled using gyroscopes, but to control its position, inertial sensors together with GPS are often used. However, obtaining accurate current position is difficult using inertial sensors because of the integration drift. GPS on the other hand is not functional in indoor applications since it cannot connect to GPS satellites. Since vision has been proved to be an inexpensive and consistent source of relative position information, vision-based control is getting more popular in UAVs recently, but then again, using vision in outdoor applications is challenging as the target can move fast and out of the vision sensor field of view. So, in order to keep the target inside the field of view, two algorithms are being developed and tested via simulation in this research. Using pan/tilt/zoom cameras or multi camera systems, the target is guaranteed to stay in vision system field of view and hence, the vision based pose estimation can provide the control system with proper relative position. Two case studies - vision-based mobile-target tracking of a quadrotor using a multi-camera vision sensor and vision-based mobile-target tracking of a tilting rotor aircraft equipped with a zooming camera - are presented in this research to show the applicability of these methods in UAV control.
Download or read book Multiple Vehicle Coordination and Cooperative Estimation for Target Tracking with Applications to Autonomous Underwater Vehicle Systems written by Benjamin Triplett and published by . This book was released on 2008 with total page 124 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Acoustic Underwater Target Tracking Methods Using Autonomous Vehicles written by Ivan Masmitjà i Rusinyol and published by . This book was released on 2020 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt: Marine ecological research related to the increasing importance which the fisheries sector has reached so far, new methods and tools to study the biological components of our oceans are needed. The capacity to measure different population and environmental parameters of marine species allows a greater knowledge of the human impact, improving exploitation strategies of these resources. For example, the displacement capacity and mobility patterns are crucial to obtain the required knowledge for a sustainable management of fisheries.However, underwater localisation is one of the main problems which must be addressed in subsea exploration, where no Global Positioning System (GPS) is available. In addition to the traditional underwater localisation systems, such as Long BaseLine (LBL) or Ultra-Short BaseLine (USBL), new methods have been developed to increase navigation performance, flexibility, and to reduce deployment costs. For example, the Range-Only and Single-Beacon (ROSB) is based on an autonomous vehicle which localises and tracks different underwater targets using slant range measurements conducted by acoustic modems. In a moving target tracking scenario, the ROSB target tracking method can be seen as a Hidden Markov Model (HMM) problem. Using Bayes' rule, the probability distribution function of the HMM states can be solved by using different filtering methods. Accordingly, this thesis presents different strategies to improve the ROSB localisation and tracking methods for static and moving targets. Determining the optimal parameters to minimize acoustic energy use and search time, and to maximize the localisation accuracy and precision, is therefore one of the discussed aspects of ROSB. Thus, we present and compare different methods under different scenarios, both evaluated in simulations and field tests. The main mathematical notation and performance of each algorithm are presented, where the best practice has been derived. From a methodology point of view, this work advances the understanding of accuracy that can be achieved by using ROSB target tracking methods with autonomous vehicles.Moreover, whereas most of the work conducted during the last years has been focused on target tracking using acoustic modems, here we also present a novel method called the Area-Only Target Tracking (AOTT). This method works with commercially available acoustic tags, thereby reducing the costs and complexity over other tracking systems. These tags do not have bidirectional communication capabilities, and therefore, the ROSB techniques are not applicable. However, this method can be used to track small targets such as jellyfish due to the reduced tag's size. The methodology behind the area-only technique is shown, and results from the first field tests conducted in Monterey Bay area, California, are also presented.
Download or read book Proceedings of 2022 International Conference on Autonomous Unmanned Systems ICAUS 2022 written by Wenxing Fu and published by Springer Nature. This book was released on 2023-03-10 with total page 3985 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes original, peer-reviewed research papers from the ICAUS 2022, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2022 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.
Download or read book Undersea Vehicles and National Needs written by Committee on Undersea Vehicles and National Needs and published by National Academies Press. This book was released on 1996-12-03 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.
Download or read book Real time Implementation of an Asynchronous Vision based Target Tracking System in an Unmanned Aerial Vehicle written by and published by . This book was released on 2007 with total page 141 pages. Available in PDF, EPUB and Kindle. Book excerpt: Currently, small unmanned aerial vehicles developed by NPS have been able to locate and track stationary and moving targets on the ground. New methods of continuous target tracking are always being developed to improve speed and accuracy, ultimately aiding the user of the system. This thesis describes one such method, utilizing an open loop filter as well as an external correction source: Perspective View Nascent Technologies (PVNT). While the PVNT correction can theoretically improve the accuracy from 20-30 meters to 1-2 meters, it does have a disadvantage in that the target position updates are delayed anywhere from 1-10 seconds. In order to account for the delay, an asynchronous filter is used to update the target position data given the external position correction from PVNT. Two cases have been tested including the general filter and one that utilizes a road model in the calculations. While an earlier thesis developed the basic simulation for the system, this thesis discusses improvements and corrections to the simulation model as well as the necessary steps for real-time implementation.
Download or read book Visual Perception and Control of Underwater Robots written by Junzhi Yu and published by CRC Press. This book was released on 2021-03-01 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt: Visual Perception and Control of Underwater Robots covers theories and applications from aquatic visual perception and underwater robotics. Within the framework of visual perception for underwater operations, image restoration, binocular measurement, and object detection are addressed. More specifically, the book includes adversarial critic learning for visual restoration, NSGA-II-based calibration for binocular measurement, prior knowledge refinement for object detection, analysis of temporal detection performance, as well as the effect of the aquatic data domain on object detection. With the aid of visual perception technologies, two up-to-date underwater robot systems are demonstrated. The first system focuses on underwater robotic operation for the task of object collection in the sea. The second is an untethered biomimetic robotic fish with a camera stabilizer, its control methods based on visual tracking. The authors provide a self-contained and comprehensive guide to understand underwater visual perception and control. Bridging the gap between theory and practice in underwater vision, the book features implementable algorithms, numerical examples, and tests, where codes are publicly available. Additionally, the mainstream technologies covered in the book include deep learning, adversarial learning, evolutionary computation, robust control, and underwater bionics. Researchers, senior undergraduate and graduate students, and engineers dealing with underwater visual perception and control will benefit from this work.
Download or read book Vision based Navigation for Autonomous Underwater Vehicles written by Ian Thomas Mahon and published by . This book was released on 2008 with total page 482 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Target Tracking Onboard an Autonomous Underwater Vehicle written by Maria Alejandra Parra-Orlandoni and published by . This book was released on 2007 with total page 109 pages. Available in PDF, EPUB and Kindle. Book excerpt: In order to overcome the challenges that an anisotropic noise field poses for underwater target tracking, we conduct an onboard estimation of the horizontal noise directionality in the real-time processing suite of an autonomous underwater vehicle (AUV) towing a horizontal line array. The estimation of the noise directionality is a precursor to another adaptive behavior: optimizing tracking capability of a towed array by choosing a particular heading that minimizes the detection level in the target's direction. In each distinct simulated anisotropic noise field, the AUV successfully calculates the optimal towed array headings based on the real-time estimation of the horizontal noise directionality. The findings reveal a clear advantage over the conventional broadside beam tracking method, with some limitations due predominantly to the noise field itself.
Download or read book Object Tracking in a Computer Vision Based Autonomous See and avoid System for Unmanned Aerial Vehicles written by and published by . This book was released on 2004 with total page 61 pages. Available in PDF, EPUB and Kindle. Book excerpt:
