The continual development of computer technology has enabled the expansion of intelligent control into the field of underwater robots, where potential uses include oceanographic research, environmental monitoring and military mine countermeasures. With the naval focus shifting to operations in the littorals, and the need to lower cost of operations, tetherless autonomous vehicles are now being proposed for use in very shallow water minefield reconnaissance. These areas are dominated by a highly energetic environment arising from waves and currents. Motion control in such an environment becomes a difficult task and is the subject of this work. The main objective of this dissertation, is to show through modeling and simulation, and in-ocean experimental validation, that intervention tasks performed by intelligent underwater robots are improved by their ability to gather, learn and use information about their working environment. Using a new generalized approach to the modeling of underwater vehicles, which directly includes disturbance effects, a new Disturbance Compensation Controller (DCC) is proposed. The DCC, employing onboard vehicle sensors, allows the robot to learn and estimate the seaway dynamics. This self-derived knowledge is embedded in a non-linear sliding mode control law which allows significantly improved motion stabilization. The performance of the DCC has been verified in Monterey Harbor using the NPS phoenix AUV.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Seaway Learning and Motion Compensation in Shallow Waters for Small AUVS


    Contributors:

    Publication date :

    1999


    Size :

    264 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




    Motion of ship in seaway

    Spaeth, W. | Engineering Index Backfile | 1933


    Robust nonlinear motion control for AUVs

    Serrani, A. / Conte, G. | Tema Archive | 1999


    Stability and Ship Motion in a Seaway

    J. R. Paulling | NTIS | 1970



    SEAWAY PLANNING DEVICE, SEAWAY PLANNING METHOD, AND PROGRAM

    YAMABAYASHI JUN / MORITA TAKATOSHI / OKUDA MASATO | European Patent Office | 2021

    Free access