A Computational Framework for Simulation of Underwater Robotic Vehicle Systems

1996 ◽  
pp. 179-194 ◽  
Author(s):  
Scott McMillan ◽  
David E. Orin ◽  
Robert B. McGhee
Keyword(s):  
Computational Framework ◽  
Vehicle Systems ◽  
Robotic Vehicle ◽  
Underwater Robotic Vehicle

A computational framework for simulation of Underwater Robotic Vehicle systems

1996 ◽  
Vol 3 (2-3) ◽  
pp. 253-268 ◽  
Author(s):  
Scott McMillan ◽  
David E. Orin ◽  
Robert B. McGhee
Keyword(s):  
Computational Framework ◽  
Vehicle Systems ◽  
Robotic Vehicle ◽  
Underwater Robotic Vehicle

Early stage design of a spherical underwater robotic vehicle

2016 ◽  
Author(s):  
Soheil Zavari ◽  
Arttu Heininen ◽  
Jussi Aaltonen ◽  
Kari T. Koskinen
Keyword(s):  
Early Stage ◽  
Stage Design ◽  
Robotic Vehicle ◽  
Early Stage Design ◽  
Underwater Robotic Vehicle

Development and improvement of an underactuated underwater robotic vehicle

2005 ◽  
Author(s):  
T.H. Koh ◽  
M.W.S. Lau ◽  
E. Low ◽  
G. Seet ◽  
S. Swei ◽  
...  
Keyword(s):  
Robotic Vehicle ◽  
Underwater Robotic Vehicle

The Nereus hybrid underwater robotic vehicle for global ocean science operations to 11,000m depth

OCEANS 2008 ◽  
2008 ◽  
Author(s):  
Andrew D. Bowen ◽  
Dana R. Yoerger ◽  
Chris Taylor ◽  
Robert McCabe ◽  
Jonathan Howland ◽  
...  
Keyword(s):  
Global Ocean ◽  
Ocean Science ◽  
Science Operations ◽  
Robotic Vehicle ◽  
Underwater Robotic Vehicle

Field trials of the Nereus hybrid underwater robotic vehicle in the challenger deep of the Mariana Trench

OCEANS 2009 ◽  
2009 ◽  
Author(s):  
Andrew D. Bowen ◽  
Dana R. Yoerger ◽  
Chris Taylor ◽  
Robert McCabe ◽  
Jonathan Howland ◽  
...  
Keyword(s):  
Field Trials ◽  
Mariana Trench ◽  
Challenger Deep ◽  
Robotic Vehicle ◽  
Underwater Robotic Vehicle

scholarly journals APPLICATION OF SOFT COMPUTING TECHNIQUES TO MOTION CONTROL OF UNDERWATER ROBOTIC VEHICLE

2014 ◽  
Vol 46 (1) ◽  
pp. 4-13
Author(s):  
Jerzy Garus ◽  
Józef Małecki
Keyword(s):  
Line Of Sight ◽  
Control Law ◽  
Environmental Disturbances ◽  
Quality Of Control ◽  
Soft Computing Techniques ◽  
Robotic Vehicle ◽  
Command Signals ◽  
Point Line ◽  
Underwater Robotic Vehicle

Using of artificial intelligence techniques to steering of underwater robotic vehicle along a reference path is considered in the paper. For the tracking, the way-point line of sight scheme is applied. Command signals are generated by an autopilot consisting of four independent controllers with a fuzzy control law implemented. Parameters of the controllers are tuned by means of genetic algorithms. A quality of control is tested without and in presence of environmental disturbances. Selected results of computer simulations are inserted to demonstrate quality of the approach.

Model Predictive Control of an AUV Using De-Coupled Approach

2018 ◽  
Vol Vol 160 (A1) ◽  
Author(s):  
M P R Prasad
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Autonomous Underwater Vehicle ◽  
Satisfactory Performance ◽  
Dynamics And Control ◽  
Simple Implementation ◽  
Robotic Vehicle ◽  
And Control ◽  
Decoupled Structure ◽  
Underwater Robotic Vehicle

This paper considers the decoupled dynamics and control of an Autonomous Underwater Vehicle (AUV). The decoupled model consists of speed, steering and depth subsystems. Generally AUV model is unstable and nonlinear. The central theme of this paper is the development of model predictive control (MPC) for underwater robotic vehicle for ocean survey applications. The proposed MPC for decoupled structure can have simple implementation. Simulation results have been presented which confirm satisfactory performance. Decoupled approach is well suitable for applying control.

The Nereus hybrid underwater robotic vehicle

2009 ◽  
Vol 28 (3) ◽  
pp. 79-89 ◽  
Author(s):  
AD Bowen ◽  
DR Yoerger ◽  
C Taylor ◽  
R McCabe ◽  
J Howland ◽  
...  
Keyword(s):  
Robotic Vehicle ◽  
Underwater Robotic Vehicle
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