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The underwater vehicle is six degrees of freedom model. The execution of spatial maneuvers are determined mainly by the dynamic properties of underwater vehicle particularly controllability and stability. The control surfaces are situated at the rear end of the underwater vehicle which moves either vertically or horizontally (Pitch, Yaw, Roll, Pitch-rate,Yaw-rate etc.) used to steer the vehicle to...
An autonomous underwater vehicle (AUV) is developed to explore and patrol in underwater environments. To accomplish these objectives, an autonomous navigation and control system is essential to an AUV. An intelligent navigation system produces safe paths from the start point to the target point by itself, and the control system makes the vehicle follow the planned path. In this paper, we propose an...
This brief describes a single-vehicle tracking algorithm relying on active contours for target extraction and an extended Kalman filter for relative position estimation. The primary difficulty lies in the estimation and regulation of range using monocular vision. The work represents a first step towards treating the problem of the control of several unmanned vehicles flying in formation using only...
This paper introduces the application of a newly developed optimal control method for an autonomous underwater vehicle (AUV) and actuator failure performance in case of the failure of either rudder or stern fin. The six degree-of-freedom (DOF) nonlinear equations of motion were used in the control. For failure and no-failure cases, two control system models were developed. By implementing a multiple...
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