Guidance and control of an autonomous underwater vehicle (original) (raw)

Control of Autonomous UnderwaterVehicles

2012

This is to certify that the thesis entitled "Control of Autonomous Underwater Vehicles" by Mr. Raja Rout, submitted to the National Institute of Technology, Rourkela (Deemed University) for the award of Master of Technology by Research in Electrical Engineering, is a record of bonafide research work carried out by him in the Department of Electrical Engineering , under my supervision. We believe that this thesis fulfills part of the requirements for the award of degree of Master of Technology by Research.The results embodied in the thesis have not been submitted for the award of any other degree elsewhere.

Guidance of an Autonomous Underwater Vehicle in Special Situations

2017

This article describes a guidance system of the autonomous underwater vehicle "DeepC" [1] in Special situations. A special situation occurs when one or more objects interfere with the planned route of a mission. The possible reactions are evasion or identification of the objects. The paper presents these two tasks in overview. The special demands challenges of the underwater environment, computer parameters, sensors and the maneuverability of the vehicle are considered in the selection and development of the required strategies. Such challenges include the sea current, maneuver in the 3-D space and the limited perceptive faculty of the sonar.

Improved Guidance, Navigation, and Control for Autonomous Underwater Vehicles: Theory and Experiment

2009

This dissertation addresses attitude control and inertial navigation of autonomous underwater vehicles (AUVs). We present theoretical justification for using simplified models, derive system identification algorithms, and verify our results through extensive field trials. Although this research focuses on small AUVs with limited instrumentation, the results are useful for underwater vehicles of any size. standing team. I wish everybody good luck in their future endeavors.

Development of a control system for an Autonomous Underwater Vehicle

2010 IEEE/OES Autonomous Underwater Vehicles, 2010

This work proposes the development of a control system for an autonomous underwater vehicle dedicated to the observation of the oceans. The vehicle, a hybrid between Autonomous Underwater Vehicles (AUVs) and Autonomous Surface Vehicles (ASV), moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column, according to a pre-established plan. The displacement of the vehicle on the surface allows the navigation through GPS and telemetry communication by radio-modem. The vehicle is 2300mm long by 320mm wide. It weighs 85kg and reaches a maximum depth of 30m. A control system based on an embedded computer is designed and developed for this vehicle that allows a vehicle's autonomous navigation. This control system has been divided into navigation, propulsion, safety and data acquisition subsystems.

A Review of Guidance Laws Applicable to Unmanned Underwater Vehicles

Journal of Navigation, 2003

The main problem in bringing autonomy to any vehicle lies in the design of a suitable guidance law. For a truly autonomous operation, the vehicle needs to have a reliable Navigation, Guidance and Control (NGC) system of which the guidance system is the key element, which generates suitable trajectories to be followed. In this survey paper, various guidance laws found in the literature and their relevance to autonomous underwater vehicles (AUVs) are discussed. Since existing guidance laws for underwater vehicles have emulated from tactical airborne missile systems, a number of approaches for the missile guidance systems are considered. Finally, potential guidance strategies for AUVs are proposed.

Design and simulation of an autonomous underwater vehicle

The Mechatronics and Dynamic Modelling Lab of the University of Florence (MDM Lab) is developing an AUV (Autonomous Underwater Vehicle), called "Tifone", for the monitoring of underwater archaeological sites. This research is a part of the Thesaurus project, funded by Regione Toscana. The vehicle is designed in order to carry out a customizable payload according to different mission profiles. The main technical requirements of the vehicle are a maximum operative depth of 300 m, a maximum speed of 5 knots and an autonomy of more than 8 hours; a torpedo-like design allows to achieve benefits from a fluidodynamic point of view. A high manoeuvrability and hovering capacities are required to perform complex explorations and monitoring tasks: that is why a motion control based on lateral and vertical thrusters has been preferred with respect to the typical use of control surfaces, also in order to have a more reliable system as concerns component failures. The control system has to ensure a good trade-off between manoeuvrability and stability at cruise speed, too. The paper focuses on two different control strategies, corresponding to the different mission profiles the vehicle is able to perform.

Operations and control of unmanned underwater vehicles

Robótica, 2005

Operations and control of unmanned underwater vehicle systems are discussed in terms of systems and technologies, vehicles, operational deployments and concepts of operation. The notions underlying the specification of single vehicle operations are contrasted to new concepts of operation to illustrate the challenges they pose to control engineering. New research directions are discussed in the context of the theories and techniques from dynamic optimization and computer science. The overall discussion is done in the context of the activities of the

and Designs for Diving and Course Control of an Autonomous Underwater Vehicle in Presence of Waves

IEEE Journal of Oceanic Engineering, 2008

2 and designs applied to the diving and course control of an autonomous underwater vehicle (AUV) considering the presence of wave disturbances are described. The six-degrees-of-freedom equations of motion of the vehicle are described as a linear model and divided into three noninteracting (or lightly interacting) subsystems for speed control, steering, and diving. This work is based on the slender form of the Naval Postgraduate School (NPS, Monterey, CA) AUV, considering that the subsystems can be controlled by means of two single-screw propellers, a rudder, port and starboard bow planes, and a stern plane. A model of the AUV dynamics is presented with the first-and the second-order wave force disturbances, i.e., the Froude-Kriloff and diffraction forces. An algorithm of nonlinear regression for the rationalization of the subsurface sea spectrum is provided in this case study. The obtained results are analyzed and evaluated in the frequency domain comparing the controllers performance considering or not the inclusion of the model of waves.

Comparison of Control Methods for Autonomous Underwater Vehicles

IFAC Proceedings Volumes, 2003

This paper presents a comparison of different control methodologies for Autonomous Underwater Vehicles (AUVs). As AUVs operate out of contact of human operators and being untetherered it is paramount that the controllers are both robust and reliable. The three control methodologies that are compared in this paper are PID, Lead-Lag and Sliding Mode.