Journal ArticleDOI
Design and Control of Autonomous Underwater Robots: A Survey
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TLDR
This paper surveys some key areas in current state-of-the-art underwater robotic technologies, by no means a complete survey but provides key references for future development.Abstract:
During the 1990s, numerous worldwide research and development activities have occurred in underwater robotics, especially in the area of autonomous underwater vehicles (AUVs). As the ocean attracts great attention on environmental issues and resources as well as scientific and military tasks, the need for and use of underwater robotic systems has become more apparent. Great efforts have been made in developing AUVs to overcome challenging scientific and engineering problems caused by the unstructured and hazardous ocean environment. In the 1990s, about 30 new AUVs have been built worldwide. With the development of new materials, advanced computing and sensory technology, as well as theoretical advancements, R&D activities in the AUV community have increased. However, this is just the beginning for more advanced, yet practical and reliable AUVs. This paper surveys some key areas in current state-of-the-art underwater robotic technologies. It is by no means a complete survey but provides key references for future development. The new millennium will bring advancements in technology that will enable the development of more practical, reliable AUVs.read more
Citations
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The Hybrid Glider/AUV Folaga
TL;DR: The paper describes the current evolution of the class of Fo¿laga underwater vehicles, whose actuation mechanism is a hybrid between oceanographic gliders and standard, self-propelled autonomous underwater vehicles (AUVs).
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Globally finite-time stable three-dimensional trajectory-tracking control of underactuated UUVs
TL;DR: Simulation results fully indicate that the tracking controller can drive the underactuated UUV with ± 20 % model parameter perturbation to track the predefined desired trajectory accurately in the three-dimensional space.
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An improved ant colony optimization algorithm based on particle swarm optimization algorithm for path planning of autonomous underwater vehicle
Gaofeng Che,Lijun Liu,Zhen Yu +2 more
TL;DR: Improved ACO algorithm based on PSO algorithm can overcome disadvantages of the traditional ACO algorithms, such as falling into local extremum, poor quality, and low accuracy.
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Formation control of impulsive networked autonomous underwater vehicles under fixed and switching topologies
Zhongliang Hu,Chao Ma,Lixian Zhang,Lixian Zhang,Aarne Halme,Tasawar Hayat,Tasawar Hayat,Bashir Ahmad +7 more
TL;DR: Instead of requiring continuous-time communication, in this scheme, information exchanges among the AUVs are conducted via impulse time sequences, which is more practical in the unreliable and narrow banded underwater acoustic communication environment.
References
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Book
Guidance and Control of Ocean Vehicles
TL;DR: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High-Speed Craft Appendices Bibliography Index as mentioned in this paper
Journal ArticleDOI
Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles
A.J. Healey,D. Lienard +1 more
TL;DR: In this article, a sliding-mode autopilot is designed for the combined steering, diving, and speed control functions of an AUV, assuming decoupled modeling, and the influence of speed, modeling nonlinearity, uncertainty, and disturbances can be effectively compensated.
Journal ArticleDOI
Robust trajectory control of underwater vehicles
TL;DR: In this article, a recent extension of sliding mode control is shown to handle nonlinearities, is highly robust to imprecise models, explicitly accounts for the presence of high-frequency unmodeled dynamics, and produces designs that are easy to understand.
Journal ArticleDOI
The influence of thruster dynamics on underwater vehicle behavior and their incorporation into control system design
TL;DR: In this paper, a nonlinear parametric model of a torque-controlled thruster is developed and experimentally confirmed, and three forms of compensation are tested, utilizing a hybrid simulation combining an instrumented thruster with a real-time mathematical vehicle model.
Journal ArticleDOI
Estimates of Coastal Populations
TL;DR: The first public digital map of the world's human population appeared in 1995 and was used by Cohen et al. as discussed by the authors to obtain more precise estimates of coastal populations as of 1994.