Navigation and Control of an Autonomous Underwater Vehicle Using a Distributed, Networked, Control Architecture

1998 ◽  
Vol 23 (1) ◽  
pp. 19-30 ◽  
Author(s):  
S. D. McPhail ◽  
M. Pebody
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Networked Control ◽  
Control Architecture ◽  
Navigation And Control ◽  
And Control

scholarly journals An Overview of Autonomous Underwater Vehicle Research and Testbed at PeRL

2009 ◽  
Vol 43 (2) ◽  
pp. 33-47 ◽  
Author(s):  
Hunter C. Brown ◽  
Ayoung Kim ◽  
Ryan M. Eustice
Keyword(s):  
Real Time ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
University Of Michigan ◽  
Major Research ◽  
Research Areas ◽  
Localization And Mapping ◽  
Navigation And Control ◽  
The University ◽  
And Control

AbstractThis article provides a general overview of the autonomous underwater vehicle (AUV) research thrusts being pursued within the Perceptual Robotics Laboratory (PeRL) at the University of Michigan. Founded in 2007, PeRL's research centers on improving AUV autonomy via algorithmic advancements in environmentally based perceptual feedback for real-time mapping, navigation, and control. Our three major research areas are (1) real-time visual simultaneous localization and mapping (SLAM), (2) cooperative multi-vehicle navigation, and (3) perception-driven control. Pursuant to these research objectives, PeRL has developed a new multi-AUV SLAM testbed based upon a modified Ocean-Server Iver2 AUV platform. PeRL upgraded the vehicles with additional navigation and perceptual sensors for underwater SLAM research. In this article, we detail our testbed development, provide an overview of our major research thrusts, and put into context how our modified AUV testbed enables experimental real-world validation of these algorithms.

A Control Architecture for Mission Re-Planning and Plan Repair of AUV

2013 ◽  
Vol 462-463 ◽  
pp. 794-797
Author(s):  
Ru Bo Zhang ◽  
Hai Bo Tong ◽  
Chang Ting Shi
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Hierarchical Control ◽  
Underwater Vehicle ◽  
Control Architecture ◽  
Real Word ◽  
Simulation Environment ◽  
Hierarchical Control Architecture ◽  
Planning Task ◽  
And Behavior ◽  
Influence Degree

This paper present a hybrid, hierarchical control architecture for mission re-planning and plan repair of autonomous underwater vehicle (AUV) navigating in dynamic and uncertain marine environment. The proposal carries out a component-oriented part-based control architecture structured in three parts: situation reasoning, re-planning trigger and hierarchical re-planning layer. Situation reasoning using the unstructured real-word information obtained by sorts of sensor detectes and recognizes uncertain event. According the event types and influence degree, the re-planning trigger decides the re-planning level. Hierarchical re-planning layer contains mission re-planning, task re-planning and behavior re-planning. Different re-planning level depends on the result of re-planning trigger. Preliminary versions of the architecture have been integrated and tested in a marine simulation environment.

scholarly journals Bipartite Guidance, Navigation and Control Architecture for Autonomous Aerial Inspections Under Safety Constraints

2018 ◽  
Vol 95 (3-4) ◽  
pp. 1049-1061 ◽  
Author(s):  
Giuliano Punzo ◽  
Charles MacLeod ◽  
Kristaps Baumanis ◽  
Rahul Summan ◽  
Gordon Dobie ◽  
...  
Keyword(s):  
Control Architecture ◽  
Navigation And Control ◽  
Safety Constraints ◽  
And Control
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