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The technology of navigation and localization for Multi-Autonomous Underwater Vehicles (AUVs) is an important way to solve the problem of complex operation environment. This paper addresses the problem of Multi-AUVs cooperative navigation and localization, based on the Leader-Fellow form. Then, Extended Kalman Filter (EKF) algorithm is proposed to solve this problem. A navigation model of the slave...
With the increasing complexity of marine missions, it is necessary to resolve the missions through coordination of multiple unmanned underwater vehicle. This paper combines the virtual leader strategy with passivity-based techniques to solve the problem of coordination path following of multiple unmanned underwater vehicle. Meanwhile, the coordinated path following with a desired spatial formation...
A fuzzy expert system used in damaged submarines is developed in this paper to provide useful information for submarine commanders. It uses the methods of fuzzy logic and certainty factor to achieve uncertainty reasoning and ranks inference results according to their certainty factors, even when the provided information is uncertain and uncompleted. The ability of the developed fuzzy expert system...
In allusion to the autonomous behavior of autonomous underwater vehicle (AUV), it is difficult to research its adaptability and reaction to the environment at present. According to the problems of motion planning in uncertain environment, behavior models were proposed and explained for AUV horizontal motion. Models for goal forward behavior, obstacle avoiding behavior and macro-behavior for horizontal...
With the development of autonomous underwater vehicle (short for AUV) technology, there is increasing demand of its autonomy. The paper researches on control architecture for AUV. After described hybrid property of the control system of AUV, we present hierarchical control architecture for AUV, which has been organized in three layers: mission layer, task layer and execution layer. State supervisor...
The paper addresses the problems of motion control in autonomous underwater vehicle. It is established a simplified mathematical model of AUV's pitch motion in vertical plane by linearizing the nonlinear model at a specified operating point. A fuzzy sliding-mode controller was designed to control the AUV's pitch motion under the disturbance of ocean current. The computer simulation results showed...
A new DSRV (deep submergence rescue vehicle) for automatic mating simulated tester named BSAV-II is investigated. The overall design is presented including the layout of equipments inside the vehicle and on the skirt. Hybrid system theory is applied to design the supervisory control in order to detect the errors of position and posture in or out of thresholds, which solves the automatic mating problem...
Gravity aided inertial navigation system (GAINS) is an important manner of the future underwater passive navigation. In view of the characteristics of underwater navigation, the simulation platform of navigation system for autonomous underwater vehicle has been developed based on Windows platform. The Autonomous Underwater Vehicle (AUV) dynamic model as well as path following controller and platform...
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