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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Proceedings ArticleDOI
Coordinated formation control of autonomous underwater vehicles based on leader-follower strategy
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Vision-based Pose and Motion Estimation of Non-cooperative Target for Space Robotic Manipulators
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Modeling and motion control system research of a mini underwater vehicle
TL;DR: Spatial motion mathematic model of a mini autonomous underwater vehicle (in short, AUV) controlled by thruster and fins was established and the main hydrodynamic coefficients were determined both theoretically and experimentally.
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.