The problem of identification and navigation, guidance and control in UUVs (Unmanned Underwater Vehicles) is addressed. A task-function-based guidance system and an acoustic motion estimation module have been integrated with a conventional UUV autopilot within a two-layered hierarchical architecture for closed-loop control. Basic techniques to estimate the robot dynamics using the sensors mounted on the vehicle have been investigated. The proposed identification techniques and navigation, guidance and control system have been tested on Roby2, a UUV developed at the Istituto Automazione Navale of the Italian C.N.R. The experimental set-up, as well as the modalities and results, are discussed.
Acoustic motion estimation and control for an unmanned underwater vehicle in a structured environment
Akustische Ortung und Lageregelung eines fahrerlosen Unterwasserfahrzeuges
Control Engineering Practice ; 6 , 5 ; 661-670
1998
10 Seiten, 13 Bilder, 1 Tabelle, 28 Quellen
Article (Journal)
English
British Library Conference Proceedings | 1997
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