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An underwater terrain navigation method based on Bayesian estimation is proposed for autonomous underwater vehicle (AUV), according to the depths measured by multi-beam echo sounder (MBES). For the shortage of false peak increasing intensely at low characteristic area of this method, the Fisher criterion is introduced. This method effectively reduces the false peaks, enhances the discrimination of...
This paper describes an investigation into the cooperation of multiple autonomous underwater vehicle system( MAUVS). A distributed control architecture MOOS-IvP (which was proposed by Newman at Oxford and Benjamin at MIT) is applied. In this approach, fully distributed control of underwater vehicles is realized and behavior-based control strategy is used to ensure a timely reaction of the vehicles...
Fuzzy neural network controller for underwater vehicles has many parameters difficult to tune manually. To reduce the numerous work and subjective uncertainty in manual adjustments, a novel immune particle swarm optimization (IPSO) algorithm based on immune theory and nonlinear decreasing inertia weight (NDIW) strategy was proposed. Owing to the restraint factor and NDIW strategy, IPSO algorithm can...
As sliding mode (SMC) control has just a unitary switching face, the system converges slowly at the origin. An improvement was made to the linear switching surface of SMC for autonomous underwater vehicles (AUVs) in this paper. A polyline switching surface was proposed, velocity control and velocity control at appointed positions were realized. The improved switching surface was made up of the lines...
A fuzzy neural network controller for underwater vehicles has many parameters difficult to tune manually. To reduce the numerous work and subjective uncertainties in manual adjustments, a hybrid particle swarm optimization (HPSO) algorithm based on immune theory and nonlinear decreasing inertia weight (NDIW) strategy is proposed. Owing to the restraint factor and NDIW strategy, an HPSO algorithm can...
The embedded navigation system of autonomous underwater vehicle is introduced, which includes navigation overall architecture, hardware and software structure. The navigation system based on PC104 bus adopts the VxWorks system, which is a powerful real-time operating system. Intel PIIX-4 is used as the navigation controller's CPU. Meanwhile, the whole information flow of the navigation system is also...
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