Development And Testing Of Navigation Algorithms For Autonomous Underwater Vehicles

Author : Francesco Fanelli
Publisher : Springer
Page : 97 pages
File Size : 51,5 Mb
Release : 2019-04-16
Category : Technology & Engineering
ISBN : 9783030155964

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Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles by Francesco Fanelli Pdf

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.

Author : Matthew Corwin Graham
Publisher : Unknown
Page : 128 pages
File Size : 45,9 Mb
Release : 2009
Category : Electronic
ISBN : OCLC:432103578

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Development of a Navigation Algorithm for Autonomous Underwater Vehicles by Matthew Corwin Graham Pdf

Author : Cynthia Mitchell
Publisher : Unknown
Page : 0 pages
File Size : 42,7 Mb
Release : 2017
Category : Automated vehicles
ISBN : 1536118192

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Autonomous Underwater Vehicles by Cynthia Mitchell Pdf

Gravity-gradient and magnetic-gradient inversion equations are combined to estimate the orientation and distance of an underwater object. The CKF algorithm based on EMMAF algorithm and Spherical-Radial is proposed and is applied to the fault diagnosis of slaver AUV in multi AUV collaborative positioning system. Simulation results are used to analyze the advantages and disadvantages of the three algorithms. This book looks at how a Service-Oriented Agent Architecture (SOAA) for marine robots is endowed with resilient capabilities in order to build a robust (fault-tolerant) vehicle control approach. Particular attention is paid to cognitive RCAs based on agent technologies and any other smart solution already applied or potentially applicable to UMVs. The book also presents current and future trends of RCAs for UMVs.

Author : Fabio Bonsignorio,Enrica Zereik,Marco Bibuli,Kristin Ytterstad Pettersen,Oussama Khatib
Publisher : Frontiers Media SA
Page : 143 pages
File Size : 41,5 Mb
Release : 2021-06-09
Category : Technology & Engineering
ISBN : 9782889668724

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Advanced Control Methods in Marine Robotics Applications by Fabio Bonsignorio,Enrica Zereik,Marco Bibuli,Kristin Ytterstad Pettersen,Oussama Khatib Pdf

Author : Jing Yan,Xian Yang,Haiyan Zhao,Xiaoyuan Luo,Xinping Guan
Publisher : Springer Nature
Page : 222 pages
File Size : 45,6 Mb
Release : 2021-11-01
Category : Technology & Engineering
ISBN : 9789811660962

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Autonomous Underwater Vehicles by Jing Yan,Xian Yang,Haiyan Zhao,Xiaoyuan Luo,Xinping Guan Pdf

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.

Author : Suat Arslan
Publisher : Unknown
Page : 108 pages
File Size : 44,5 Mb
Release : 2000-03-01
Category : Electronic
ISBN : 1423539133

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Testing and Evaluation of the Small Autonomous Underwater Vehicle Navigation System (SANS) by Suat Arslan Pdf

At the Naval Postgraduate School (NPS), a small AUV navigation system (SANS) was developed for research in support of shallow-water mine countermeasures and coastal environmental monitoring The objective of this thesis is to test and evaluate the SANS performance after tuning the filter gains through a series of testing procedures. The new version of SANS (SANS III) used new hardware components which were smaller, cheaper, and more reliable. A PC/l O4 computer provided more computing power and, increased the reliability and compatibility of the system. Implementing an asynchronous Kalman filter in the position and velocity estimation part of the navigation subsystem improved the navigation accuracy significantly. To determine and evaluate the overall system performance, ground vehicle testing was conducted. Test results showed that the SANS III was able to navigate within + 15 feet of Global Positioning track with no Global Positioning update for three minutes.

Author : Deborah Kathleen Meduna
Publisher : Stanford University
Page : 183 pages
File Size : 40,5 Mb
Release : 2011
Category : Electronic
ISBN : STANFORD:mq108ss0503

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Terrain Relative Navigation for Sensor-limited Systems with Application to Underwater Vehicles by Deborah Kathleen Meduna Pdf

Terrain Relative Navigation (TRN) provides bounded-error localization relative to an environment by matching range measurements of local terrain against an a priori map. The environment-relative and onboard sensing characteristics of TRN make it a powerful tool for return-to-site missions in GPS-denied environments, with potential applications ranging from underwater and space robotic exploration to pedestrian indoor navigation. For many of these applications, available sensors may be limited by mission power/weight constraints, cost restrictions, and environmental effects (e.g. inability to use a magnetic compass in space). Such limitations not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ TRN. Consequently, despite numerous advances in TRN technology over the past several decades, the application of TRN has been restricted to systems with highly accurate and information-rich sensor systems. In addition, a limited understanding of the effects of map quality and sensor quality on TRN performance has overly restricted the types of missions for which TRN has been considered a viable navigation solution. This thesis develops two new capabilities for TRN methods, resulting in significantly increased TRN applicability. First, a tightly-coupled filtering framework is developed which enables the successful use of TRN on vehicles with both low-accuracy navigation sensors and simple, low-information range sensors. This new filtering framework has similarities to tightly-coupled integration methods for GPS-aided navigation systems. Second, a set of analysis and design tools based on the Posterior Cramer-Rao Lower Bound are developed which allow for reliable TRN performance predictions as a function of both sensor and map quality. These analyses include the development of a new terrain map error model based on the variogram which allows for performance prediction as a function of map resolution. These developed capabilities are validated through field demonstrations on Autonomous Underwater Vehicles (AUVs) operated out of the Monterey Bay Aquarium Research Institute (MBARI), where available sensing has been limited primarily by cost. These trials include a real-time, closed-loop demonstration of the developed tightly-coupled TRN framework, enabling 5m accuracy return-to-site on a sensor-limited AUV where traditional TRN methods failed to provide better than 150m accuracy. The results further demonstrate the accurate prediction capability of the developed performance bounds on fielded systems, verifying their utility as design and planning tools for future TRN missions.

Author : Frank Ehlers
Publisher : SciTech Publishing
Page : 591 pages
File Size : 47,6 Mb
Release : 2020-08-26
Category : Technology & Engineering
ISBN : 9781785617034

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Autonomous Underwater Vehicles by Frank Ehlers Pdf

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.

Author : G.N. Roberts,R. Sutton
Publisher : IET
Page : 461 pages
File Size : 48,9 Mb
Release : 2006-01-31
Category : Technology & Engineering
ISBN : 9780863414503

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Advances in Unmanned Marine Vehicles by G.N. Roberts,R. Sutton Pdf

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.

Author : Noah Carter
Publisher : Unknown
Page : 0 pages
File Size : 45,6 Mb
Release : 2015-03-25
Category : Oceanographic submersibles
ISBN : 163240074X

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Autonomous Underwater Vehicles: Technology and Applications by Noah Carter Pdf

The technology of autonomous underwater vehicles and their various applications are elucidated in a sophisticated and comprehensive way in this book. Autonomous Underwater Vehicles are robotic engines which travel underwater in order to study underwater activities. The successful developments of parallel research and technological studies that were underway; helped to conquer the challenges associated with autonomous operation in tough conditions. The ultimate aim behind all these advancements was to procure accurate data through economical means in lesser time using accurate geo locations. Some new models are already being employed to extract the best out of the present technology by making decisions according to the interpretation of the sensor data. This book is the comprehensive compilation of various aspects of AUV technology and its applications. Vehicle designing, navigation & control techniques and mission preparation & analysis are some of the topics that this book covers. It provides an overview of brighter prospects of vehicle technology and application.

Author : Gwyn Griffiths
Publisher : CRC Press
Page : 369 pages
File Size : 40,9 Mb
Release : 2002-11-28
Category : Technology & Engineering
ISBN : 9780203522301

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Technology and Applications of Autonomous Underwater Vehicles by Gwyn Griffiths Pdf

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

Author : Daniel P. Kucik
Publisher : Unknown
Page : 208 pages
File Size : 42,7 Mb
Release : 2003-09-01
Category : Electronic
ISBN : 1423500113

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Follow the Leader Tracking by Autonomous Underwater Vehicles (AUVs) Using Acoustic Communications and Ranging by Daniel P. Kucik Pdf

With advances in computer and sensor technologies, autonomous underwater vehicles (AUVs) are now capable of reaching a level of independent action once thought impossible. Through the use of cooperative behaviors it is possible to further increase their autonomy by allowing multiple operating AUVs to simultaneously coordinate their activities to improve the efficiency and effectiveness of the overall system. This thesis research defines the algorithms and rules needed to perform 'follow the leader' cooperative behaviors during AUV rendezvous. This is a low-level first step towards more sophisticated cooperative behaviors, such as swarming or new forms of obstacle/trap avoidance. The approach taken here differs from previous research in that it does not rely on beacons or locator sensors, but instead uses ranging and intention information shared between the vehicles using acoustic communications. Several tools and algorithms are presented to support the future development of cooperative behaviors. In particular, a previously developed 3D virtual world simulator that utilizes dynamics-based vehicle models has been enhanced to support multiple simultaneously operating vehicles. Finally, a procedural algorithm is shown to correct the relative navigation errors between two vehicles through the use of vehicle-to-vehicle communications and ranging information obtained via acoustic modems. (3 tables, 69 figures, 55 refs.)

Author : Gianluca Antonelli
Publisher : Springer
Page : 279 pages
File Size : 54,9 Mb
Release : 2013-11-22
Category : Technology & Engineering
ISBN : 9783319028774

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Underwater Robots by Gianluca Antonelli Pdf

This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.

Author : G.N. Roberts,R. Sutton
Publisher : IET
Page : 442 pages
File Size : 54,7 Mb
Release : 2012-07-30
Category : Technology & Engineering
ISBN : 9781849194792

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Further Advances in Unmanned Marine Vehicles by G.N. Roberts,R. Sutton Pdf

Unmanned marine vehicles (UMVs) is a collective term which can be used to describe autonomous underwater vehicles, remotely operated vehicles, semisubmersibles, and unmanned surface craft. These days there is considerable interest being shown in UMVs by the military, civilian and scientific communities for undertaking designated missions whilst either operating autonomously and/or in cooperation with other types of vehicle. More and more worldwide importance is also being placed on the design and development of such vehicles as they are capable of providing cost effective solutions to a number of littoral, coastal and offshore problems. This new book on the subject will cover topics including Navigation guidance and control of the following unmanned marine vehicles: remotely operated vehicles (ROVs), autonomous underwater vehicles (AUVs), ncluding gliders, autonomous surface vehicles (ASVs).

Author : David Ribas,Pere Ridao,José Neira
Publisher : Springer Science & Business Media
Page : 152 pages
File Size : 54,8 Mb
Release : 2010-07-26
Category : Technology & Engineering
ISBN : 9783642140396

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Underwater SLAM for Structured Environments Using an Imaging Sonar by David Ribas,Pere Ridao,José Neira Pdf

Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human en- ronments and vigorously engaged in its new challenges. Interacting with, assisting, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. Beyond its impact on physical robots, the body of knowledge robotics has p- duced is revealing a much wider range of applications reaching across diverse research areas and scienti?c disciplines, such as: biomechanics, haptics, neu- sciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The SpringerTracts in AdvancedRobotics(STAR) is devoted to bringing to the research community the latest advances in the robotics ?eld on the basis of their signi?cance and quality. Through a wide and timely dissemination of critical - search developments in robotics, our objective with this series is to promote more exchanges and collaborations among the researchers in the community and c- tribute to further advancements in this rapidly growing ?eld.