scholarly journals The Method for Estimating the Maximum Velocity of the AUV Motion with Trajectories Re-Planning According to their Dynamic Properties

2021 ◽  
Vol 2096 (1) ◽  
pp. 012148
Author(s):  
D A Yukhimets ◽  
S V Karmanova
Keyword(s):  
Environmental Monitoring ◽  
Dynamic Properties ◽  
Autonomous Underwater Vehicles ◽  
Maximum Velocity ◽  
Underwater Vehicles ◽  
Velocity Estimation ◽  
Dynamics Model ◽  
Underwater Communications ◽  
Motion Trajectories ◽  
Simulation Results

Abstract The paper considers the problem of adjusting the value of a predetermined velocity required for horizontal motion of autonomous underwater vehicles (AUVs) in an environment containing obstacles, when trajectories change in order to avoid obstacles. Therewith, the velocity estimation generated during the re-planning of the AUVs motion trajectories is the maximum possible and is carried out on the basis of the AUVs dynamics model, considering their dynamic limitations and changes in the parameters of the motion trajectories. The topicality of the task is determined by the need to improve the efficiency of underwater missions in various areas of human activity (environmental monitoring, laying and maintenance of underwater communications, etc.). It depends on the mode of the AUVs motion: their velocity and parameters of the trajectories. The simulation results confirm the efficiency of the proposed method for estimating the maximum possible velocity of the AUVs motion.

scholarly journals Distributed synchronization of autonomous underwater vehicles with memorized protocol

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141984414 ◽  
Author(s):  
Chao Ma ◽  
Wei Wu
Keyword(s):  
Model Transformation ◽  
Autonomous Underwater Vehicles ◽  
Theoretical Method ◽  
Underwater Vehicles ◽  
Functional Method ◽  
Synchronization Problem ◽  
Distributed Synchronization ◽  
Simulation Results ◽  
Synchronization Performance ◽  
Synchronization Protocol

This article investigates the distributed synchronization problem of autonomous underwater vehicles by developing a novel synchronization protocol with memorized controller. More precisely, the memory information for information exchanges of autonomous underwater vehicles is utilized such that the synchronization performance can be improved. By employing the Lyapunov–Krasovskii functional method with model transformation, sufficient criteria are established for guaranteeing the synchronization, and the corresponding distributed synchronization controllers are designed based on matrix techniques. Finally, the effectiveness and benefits of our theoretical method are supported by an illustrative example with simulation results.

Equidistance Tracking Nonlinear Controller for Under Actuated Autonomous Underwater Vehicles

2010 ◽  
Author(s):  
Behzad Taheri ◽  
Edmond Richer
Keyword(s):  
Parameter Uncertainty ◽  
Moving Objects ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Sliding Mode Controller ◽  
Nonlinear Controller ◽  
Dynamics Model ◽  
Excellent Performance ◽  
Constant Distance

A new method of path planning and tracking while maintaining a constant distance from underwater moving objects has been developed for autonomous underwater vehicles (AUVs). First a kinematics controller that generates the proper trajectories is designed. Then a dynamics sliding mode controller is employed to drive the vehicle on the desired trajectories. The dynamics controller is robust against the parameter uncertainty in the dynamics model of the vehicle. Results of numerical simulations for INFANTE-AUV model show excellent performance for tracking of an object on sinusoidal trajectory.

Multivariable Decoupling Control Based on TC Control in the Diving and Floating Process of AUV

2015 ◽  
Vol 741 ◽  
pp. 720-724
Author(s):  
Zhi Bin Jiang ◽  
Tie Jun Liu ◽  
Hui Xi Xu ◽  
Song Li Jia ◽  
Jian Cui
Keyword(s):  
Process Simulation ◽  
Pitch Angle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Plane Motion ◽  
Decoupling Control ◽  
Dynamic Uncertainty ◽  
Control Scheme ◽  
Simulation Results ◽  
Multivariable Decoupling

The diving plane motion of autonomous underwater vehicles (AUVs) is a complex multivariable nonlinear system with pitch-heave coupling. Tornambe’s controllers (TCs) can online estimate the dynamic uncertainty regardless of the type of disturbance. The TCs for depth and pitch angle are adopted to achieve multivariable decoupling control by introducing virtual control inputs. The methodology can obtain fast and non-overshoot control of depth and pitch angle in the diving and floating process. Simulation results demonstrated the effectiveness of the proposed control scheme.

scholarly journals Hydrodynamic and Thruster Model Validation for Autonomous Underwater Vehicles

2007 ◽  
Author(s):  
M. Chyba ◽  
T. Haberkorn ◽  
R. N. Smith ◽  
S. K. Choi ◽  
Scott Weatherwax
Keyword(s):  
Maximum Principle ◽  
Numerical Model ◽  
Model Validation ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Test Bed ◽  
Motion Trajectories ◽  
Aquatic Complex

From Pontryagin’s Maximum Principle to the Duke Kahanamoku Aquatic Complex; we develop the theory and generate implementable time efficient trajectories for a test-bed autonomous underwater vehicle (AUV). This paper is the beginning of the journey from theory to implementation. We begin by considering pure motion trajectories and move into a rectangular trajectory which is a concatenation of pure surge and pure sway. These trajectories are tested using our numerical model and demonstrated by our AUV in the pool. In this paper we demonstrate that the above motions are realizable through our method, and we gain confidence in our numerical model. We conclude that using our current techniques, implementation of time efficient trajectories is likely to succeed.

Observability Analysis for MAUVs Cooperative Navigation System Based on Moving Long Baseline

2013 ◽  
Vol 475-476 ◽  
pp. 609-615
Author(s):  
Peng Ma ◽  
Fu Bin Zhang ◽  
De Min Xu ◽  
Shao Kun Yang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Simulation Experiments ◽  
Cooperative Navigation ◽  
Long Baseline ◽  
Simulation Results ◽  
Moving Long Baseline ◽  
Theoretical Results

This paper addresses the observability problem of 2D Multiple Autonomous Underwater Vehicles (MAUVs) cooperative navigation system. We derive the conditions to keep the local weak observability of navigation system using the Lie derivatives, and characterize the unobservable trajectories of AUVs. We design a series of simulation experiments using the Extended Kalman Filter (EKF) to verify the theoretical results. Finally, the simulation results show that the good performance of navigation system can be presented if avoiding the unobservable trajectories of AUVs.

scholarly journals Role-based collaborative task planning of heterogeneous multi-autonomous underwater vehicles

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985853
Author(s):  
Lanyong Zhang ◽  
Lei Zhang ◽  
Sheng Liu
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Task Planning ◽  
Well Performance ◽  
Dynamic Adjustment ◽  
Underwater Communications ◽  
Collaborative Task ◽  
Cooperative Relationships ◽  
Role Based ◽  
Cooperative Relationship

The multi-autonomous underwater vehicles (Multi-AUVs) cluster is an important means to solve the marine tasks effectively. The heterogeneous Multi-AUVs are constrained by cooperative relationship, and a model of multi-autonomous underwater vehicles role-based collaborative task planning is proposed. The Multi-AUVs are set to different roles depending on the functional properties. To analyze the accountability of each role, and to ensure the reliability, the desired behavior and the estimate state of each role are described in the model. Task allocation needs to be implemented dynamically in path planning, for the existing of the cooperative relationships and the demand of tasks changes. Role-based task assessment and allocation methods are proposed to achieve dynamic adjustment of roles according to task requirements. Due to poor underwater communication conditions, the implicit coordination framework is implied to the coordinate information interaction to compensate the large delays in underwater communications and the reliance between Multi-AUVs. To adapt to the implicit collaborative framework and poor communication conditions, a variable communication radius (contract network) is proposed. The simulation result shows that the proposed method has well performance.

Cooperative Navigation for Multiple AUVs Based on Relative Range Measurements with a Single Leader

2014 ◽  
Vol 556-562 ◽  
pp. 3117-3123 ◽  
Author(s):  
Xing Li Huang ◽  
Li Yan Liu ◽  
Tao Tao Lv ◽  
Wen Bai Li
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Cooperative Localization ◽  
Positioning System ◽  
Navigation Problem ◽  
Range Measurements ◽  
Cooperative Navigation ◽  
Long Baseline ◽  
Novel Method ◽  
Simulation Results

his paper deals with the cooperative navigation problem of multiple autonomous underwater vehicles (AUV). A novel method which does not depend on a beacon network like in long baseline positioning system is proposed. The principle of this approach is to realize the cooperative localization of AUVs by using relative range measurements between the leader and the follower vehicles by means of an extended Kalman filter. Simulation results that validate the effectiveness of this approach are presented.

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