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 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 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 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 Trajectory Optimization Using Pseudospectral Methods For a Multiple Autonomous Underwater Vehicle Target Tracking Problem written by Adam J. Franklin and published by . This book was released on 2012 with total page 50 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this work, a method is presented for solving a multiple AUV target tracking problem using pseudospectral methods. The multiple AUV target tracking problem involves generating a trajectory that minimizes the sum of the distances from each AUV to the target over the entire trajectory. The trajectory generated for each vehicle must not violate the distance constraint between any other vehicle or the target. The multiple AUV target tracking problem is solved as an optimal control problem using the open-source optimal control software GPOPS and a nonlinear programming problem solver SNOPT. The results of the multiple AUVs target tracking problem for two different target scenarios are analyzed and validated.

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 The Autonomous Underwater Vehicle Emergency Localization System written by Ronald S. Lewis and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: There is an inherent risk of loss that accompanies any operations of Autonomous Underwater Vehicle (AUV) technology. This complexity and risk are increased for AUV missions that are conducted beneath ice and in harsh environmental conditions (i.e. extreme cold, compromised visibility, etc.). Risk-based methodologies have been developed to quantify the risk of loss for specific AUV platforms prior to deployments. Their goal is to identify and mitigate where possible the significant contributors (technical or otherwise) to the overall risk of a specific operation. Not surprisingly, there is an abundant amount of literature related to successful AUV missions; however, there has been very little published work related to AUV loss. Specifically, this author is not aware of any examples of a developed procedure to employ during an AUV loss event to date, much less specific algorithms developed to locate a missing AUV. This is a subset of the AUV tracking or positioning that is rarely given specific treatment. The motivating problem is based on the loss event of an AUV during polar operations. For example, (i) the vehicle might navigate outside of its predefined spatial area through some fault or error, or, (ii) its mission involves over-the-horizon operations, i.e. beyond the range of standard acoustical tracking technologies. In either circumstance, at the end of its pre-programmed mission, the AUV fails to return to the base station. Such an eventuality defines the need for reliable, long-range acoustic tracking capability that is able to coarsely localize the AUV and subsequently enable communications and/or recovery of the AUV. The thesis describes a novel approach for an acoustic positioning system for AUV localization in harsh environments with non-standard acoustic challenges that can be implemented using only basic acoustic technology, a basic single-beacon, singlehydrophone (SBSH) system. Inversive geometric techniques are applied for source localization of a one-way traveling, asynchronous acoustic signal. This differs from the usual methods of spherical, two-way direct flight measurement based on time of arrival (TOA), or hyperbolic, one-way time difference of arrival (TDOA) target tracking for transmission based on a purely Euclidean geometry. This is a novel approach to the problem of localizing an AUV. A second method of solving the non-linear system of equations that arise from the problem using the SBSH approach is derived. Both methods, the novel Apollonian inversion geometry localization (AIGL) and the non linear system localization (NLSL), are evaluated in simulation and using live field data. It will be shown that the novel algorithm performs comparable to the standard method of solving the nonlinear systems resulting from a SBSH approach. Furthermore, in certain situations it improves the localization result.

Download or read book An Autonomous Hydrophone Position Locating and Target Tracking System written by and published by . This book was released on 2009 with total page 15 pages. Available in PDF, EPUB and Kindle. Book excerpt: The present invention relates to an autonomous hydrophone position locating and tracking system, and more particularly to a distributed array of buoy tethered autonomous hydrophone position locating apparatuses, where each such apparatus further includes a plurality of water velocity sensors deployed at selected depths along a cable that is connected at one end to a top side buoy that obtains buoy surface position data via a satellite based GPS link, and that is also connected at the other end to a bottom residing base unit that contains a hydrophone and also electronic signal processing components that receive the water velocity gradient data from the velocity sensors and the GPS position data from the surface buoy, and employs the data to determine the exact bottom location of that particular hydrophone which is then relayed to a satellite via the RF capable buoy antenna. Collectively the multi-hydrophone configuration provides an autonomous underwater hydrophone position locating and target tracking system that enables highly accurate position locating of the tracked objects. The system can be easily and quickly deployed to provide efficient underwater vehicle tracking. In addition, the system can be used to provide forward area anyplace-anytime test and evaluation range deployment capabilities.

Download or read book Tracking Control for a Formation of Autonomous Underwater Vehicles written by John Gornowich and published by . This book was released on 2010 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Underwater Vehicles (AUVs) are being implemented for a multitude of military and commercial applications, as well as scientific research and surveying. Because of the environment that these vehicles are tasked to perform duties in, there is a need for guidance and control schemes that are precise, yet robust. There are still major research efforts underway in the areas of system identification, modeling, control, and optimization to enhance the autonomy of these vehicles. This will allow for more advanced control schemes while maintaining the robustness that is required to operate in a diverse and hazardous environment such as the ocean. Previous control algorithms for commercially available AUVs have been generally restricted to tracking straight-line trajectories between predetermined waypoints. These vehicles will typically employ an additional control technique that allows for obstacle determination and avoidance. Again, this is generally limited to a simple line of sight detection and preprogrammed avoidance maneuver. An even less abundant and mature group of control schemes is available for a cooperative technique by a group of AUVs to accomplish a common goal. This thesis addresses the development of a robust suboptimal tracking control algorithm that will efficiently and effectively track an identifiable target while maintaining a formation with cooperating vehicles. This work will examine the possibility of utilizing a common LTI control scheme for maneuvering the actual nonlinear vehicle model. It will also investigate a simple heuristic approach to determining how to track a given target, as well as in what formation to maintain the group structure.

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 Autonomous Underwater Vehicle Navigation Relative to a Moving Target Ship Using Moving Long Baseline Navigation written by Amanda J. Folk and published by . This book was released on 2011 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Advances in Unmanned Marine Vehicles written by G.N. Roberts and published by Institution of Engineering & Technology. This book was released on 2006-01-31 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned marine vehicles (UMVs) include autonomous underwater vehicles, remotely operated vehicles, semi-submersibles and unmanned surface craft. Considerable importance is being placed on the design and development of such vehicles, as they provide cost-effective solutions to a number of littoral, coastal and offshore problems. This book highlights the advanced technology that is evolving to meet the challenges being posed in this exciting and growing area of research.

Download or read book Underwater Multi vehicle Co operative Target tracking written by Mei Yi Cheung (Ph. D.) and published by . This book was released on 2019 with total page 231 pages. Available in PDF, EPUB and Kindle. Book excerpt: The marine domain is fundamentally challenging for collaborative, multi-robot sensing and tracking operations. Accurate mapping and modeling of an underwater environment is both time consuming and difficult, especially when robots have limited access to a high-quality localization solution such as GPS. Communications over distances greater than one hundred meters necessitates the use of acoustics (acomms), which introduces networking challenges such as limited throughput and bandwidth. Successful execution of a highly dynamic and co-operative task such as target-tracking requires optimization of the information-gathering process, probabilistic inference over disparate, noisy sensor data, and exchange of local information over a costly communication link. This thesis presents two formulations of the co-operative underwater target-tracking task: a dynamic nonlinear sigma-point joint estimator and a non-Gaussian, non-parametric, multi-modal factor graph formulation of SLAM. Within the field of SLAM simultaneous estimation of a robot's state (localization) and modeling of its environment (mapping), there is a wealth of research into approaches using point estimate representations and Gaussian sensor noise. The marine domain presents two challenges not well addressed by the usual formulation: (1) measurements obtained from diverse sensors often require extensive filtering and parametrization to fuse in a Gaussian syntax and (2) acomms between multiple robots significantly limits the amount of local information that can be shared over the network. The non-Gaussian approach presented here utilizes the technique of synthetic aperture sonar (SAS) to relate disparate acoustic measurements in a consistent probabilistic framework. Experimental results under real-world acoustic conditions are gathered onboard our custom-built lightweight and low-cost ASVs in the Charles River, and detailed design specifications are presented for our testbed robots.

Download or read book Autonomous Adaptive Oceanographic Feature Tracking on Board Autonomous Underwater Vehicles written by Stephanie M. Petillo and published by . This book was released on 2015 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt: The capabilities of autonomous underwater vehicles (AUVs) and their ability to perform tasks both autonomously and adaptively are rapidly improving, and the desire to quickly and efficiently sample the ocean environment as Earth's climate changes and natural disasters occur has increased significantly in the last decade. As such, this thesis proposes to develop a method for single and multiple AUVs to collaborate autonomously underwater while autonomously adapting their motion to changes in their local environments, allowing them to sample and track various features of interest with greater efficiency and synopticity than previously possible with preplanned AUV or ship-based surveys. This concept is demonstrated to work in field testing on multiple occasions: with a single AUV autonomously and adaptively tracking the depth range of a thermocline or acousticline, and with two AUVs coordinating their motion to collect a data set in which internal waves could be detected. This research is then taken to the next level by exploring the problem of adaptively and autonomously tracking spatiotemporally dynamic underwater fronts and plumes using individual and autonomously collaborating AUVs.

Download or read book Real Time Adaptive Control of an Autonomous Underwater Vehicle AUV written by Michael H. Davis and published by . This book was released on 1989 with total page 61 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this research the problem of designing a controller for the dive maneuver of an Autonomous Underwater Vehicle (AUV) is addressed. The highly nonlinear nature of the vehicle dynamics and the requirement for the fast maneuvering call for robust control techniques. In particular Variable Structure Control (VSC) combined with Adaptive Control (AC) techniques seem to yield satisfactory performance in terms of robustness, capability to adjust to different operating conditions, and speed of response. Also linear robust techniques based on LQG and robust observers are presented to address the case when the whole state (in terms of pitch rate, pitch, and depth) is not available for measurement. Autonomous underwater vehicle; Variable structure control; AUV; Sliding mode control; Doyle-Stein observer; Adaptive control; Thesis; Sea floor mapping; Target identification; Remote reconnaissance; Underwater tracking.

Download or read book Technology and Applications of Autonomous Underwater Vehicles written by Gwyn Griffiths and published by CRC Press. This book was released on 2002-11-28 with total page 369 pages. Available in PDF, EPUB and Kindle. Book excerpt: The oceans are a hostile environment, and gathering information on deep-sea life and the seabed is incredibly difficult. Autonomous underwater vehicles are robot submarines that are revolutionizing the way in which researchers and industry obtain data. Advances in technology have resulted in capable vehicles that have made new discoveries on how th

Download or read book Experiments in Intervention Autonomous Underwater Vehicles written by Howard H. Wang and published by . This book was released on 1996 with total page 254 pages. Available in PDF, EPUB and Kindle. Book excerpt: