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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Journal ArticleDOI
Cooperative path planning of multiple autonomous underwater vehicles operating in dynamic ocean environment
TL;DR: In the on-line planning stage, the local re-planning strategy aims at avoiding collisions with unexpected dynamic obstacles by two consecutive avoidance maneuvers, and the differential flatness property of autonomous underwater vehicle is utilized, which can help the vehicles react fast enough to avoid moving obstacles.
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Linear active disturbance rejection control of the hovercraft vessel model
TL;DR: In this article, a linearizing robust dynamic output feedback control scheme is proposed for earth coordinate position variables trajectory tracking tasks in a hovercraft vessel model using only position and orientation measurements.
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Polymer MEMS pressure sensor arrays for fish-like underwater sensing applications
Ajay Giri Prakash Kottapalli,Mohsen Asadnia,Jianmin Miao,Chee Wee Tan,George Barbastathis,Michael S. Triantafyllou +5 more
TL;DR: In this article, an array of polymer MEMS pressure sensors have been developed that can transduce underwater pressure variations generated by moving objects, which gives high robustness and reliability, and higher sensitivity compared with its silicon counterparts.
Journal ArticleDOI
Swimming performance of a bio-inspired robotic vessel with undulating fin propulsion.
Hanlin Liu,Oscar M. Curet +1 more
TL;DR: The development of this vessel with high maneuverability and station keeping performance has applications for oceanography, coastal exploration, defense, the oil industry and other marine industries where operations are unsafe or impractical for divers or human-piloted vessels.
Journal ArticleDOI
Nonlinear Model Predictive Trajectory Tracking Control of Underactuated Marine Vehicles: Theory and Experiment
TL;DR: A novel NMPC algorithm is designed to ensure trajectory tracking control of underactuated marine vehicles and a systematic parameter design approach is developed, which shows that the tracking error system is input-to-state stable (ISS).
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.