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
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Journal ArticleDOI
Development of hovering type AUV “Cyclops” and its performance evaluation using image mosaicing
TL;DR: In this paper, a hovering-type autonomous underwater vehicle called Cyclops is introduced, which utilizes a lawnmower trajectory without changing its heading direction to obtain source images with homogeneous optical characteristics for underwater image mosaicing.
Journal ArticleDOI
A static output feedback control design for path following of autonomous underwater vehicle in vertical plane
TL;DR: In this paper, an output feedback controller for an autonomous underwater vehicle to achieve the task of path following in vertical plane is presented, where a reference frame is generated which provides desired orientation of the vehicle along the path and an error space is then defined using the reference trajectory and thereby linearized.
Journal ArticleDOI
A Robust Predictive Control Approach for Underwater Robotic Vehicles
TL;DR: A robust nonlinear model predictive control scheme for autonomous navigation of underwater robotic vehicles operating in a constrained workspace including the static obstacles and exploits the ocean current dynamics when these are in favor of the way-point tracking mission, resulting in reduced energy consumption by the thrusters.
Journal ArticleDOI
Diving control of Autonomous Underwater Vehicle based on improved active disturbance rejection control approach
TL;DR: A new controller for Autonomous Underwater Vehicle diving control is proposed by using the active disturbance rejection control (ADRC) with an improved tracking differentiator, which can provide better noise attenuation performance and avoid the chattering phenomenon.
Journal ArticleDOI
Adaptive fuzzy inverse trajectory tracking control of underactuated underwater vehicle with uncertainties
TL;DR: In this paper, an adaptive fuzzy control system of nominal dynamics and uncertain parts is proposed to control an underactuated underwater vehicle with uncertainties based on computed-torque controller, where a type of fuzzy inverse trajectory compensator as a nonlinear filter is developed to compensate for uncertainties by modifying the desired trajectory outside the control loop and to address the issue of unavailable normalising factor.
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.
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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.