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Autonomous steering control is the principal task in the development of an intelligent transportation system. This research paper proposes a novel approach for vision based intelligent control of unmanned vehicles. The paper addresses the problems of accurate and efficient intelligent vehicle control by incorporating a well known evolutionary algorithm cAnt-Miner. The uniqueness of the proposed algorithm...
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...
In this paper, we study multiple target detection using Bayesian learning. The main aim of the paper is to present a computationally efficient way to compute the belief map update exactly and efficiently using results from the theory of symmetric polynomials. In order to illustrate the idea, we consider a simple search scenario with multiple search agents and an unknown but fixed number of stationary...
Three-dimensional motion coordination in a flowfield has applications in environmental monitoring with autonomous vehicles. Motion-coordination algorithms designed using a flow-free motion model often fail to converge in even moderate flow speeds. We apply Lyapunov-based methods to design decentralized feedback laws for use in a three-dimensional, time-invariant flowfield that does not exceed the...
Ruts formed as a result of vehicle traversal on soft ground are used by expert off road drivers because they can improve vehicle safety on turns and slopes thanks to the extra lateral force they provide to the vehicle. In this paper we propose a rut detection and tracking algorithm for autonomous ground vehicles (AGVs) equipped with a laser range finder. The proposed algorithm utilizes an extended...
This paper presents the design and implementation of a mission control system (MCS) for an autonomous underwater vehicle (AUV) based on Petri nets. In the proposed approach the Petri nets are used to specify as well as to execute the desired autonomous vehicle mission. The mission is easily described using an imperative programming language called mission control language (MCL) that formally describes...
In this paper, the Wii remote (Wiimote) controller and a conventional video camera are used to perform real-time position tracking of an aerial vehicle. The combination of the Wiimote's infrared and video camera fields of view creates a virtual cube in which motion can be fully monitored. This controlled space allows a vehicle to navigate with no onboard sensors. The proposed approach is advantageous...
This paper proposes an index system for the formation performance evaluation of multiple autonomous underwater vehicles (multi-AUV) in deep-sea hydrothermal plume exploration. Firstly the formation evaluation criteria and the essentiality of the application of analytic hierarchy process (AHP) and Fuzzy comprehensive evaluation method (Fuzzy-AHP method) are introduced. Then the index system is established...
In order to resolve the formation tracking problem of cooperative control of multiple Autonomous Underwater Vehicles (AUVs), a variable structure control law was proposed to keep the AUVs track along the predefined trajectory by minimizing the cross track error, which is calculated from the line-of-sight angle. Furthermore, a mathematical model for the formation based on leader-follower was established...
The paper describes a localization system for autonomous underwater vehicles (AUV). It uses a DVL (Doppler velocity log) sensor and AHRS (attitude and heading reference system) sensor to measure AUV's depth, attitude and velocities relative to the bottom. A mechanically scanning imaging sonar (MSIS) is employed to obtain acoustic images of objects in underwater environment. In order to estimate optimally...
This paper presents an intelligent decision algorithm and an on-board architecture designed to enable an autonomous underwater vehicle (AUV) to carry out a survey mission autonomously. The connotation of global model in decision algorithm is analyzed, including environment information, mission information and Self-states of AUV. The survey mission of multi-objective operation areas in an unsafe zone...
We are developing onboard planning and execution technologies to provide robust and opportunistic mission operations for a future Titan Aerobot. Aerobot have the potential for collecting a vast amount of high priority science data. However, to be effective, an aerobot must address several challenges including communication constraints, extended periods without contact with Earth, uncerttain and changing...
This paper describes a general framework for the study of multiple vehicle, time-coordinated path following (TC-PF) control problems. An example is the situation where a group of vehicles is tasked to maneuver and arrive at pre-assigned final positions at the same time in a collision-free manner, while reducing some optimality criterion. The time of arrival is not fixed a priori, and the vehicles...
In this paper a new methodology for decentralized overlapping tracking control of formations of autonomous unmanned vehicles based on the expansion/contraction paradigm is proposed. The methodology is based on a specific linear formation model. Decentralized controllers for the extracted subsystems are contracted to the original space after convenient modifications. It is proved that the overall closed...
Path planning is basis for any autonomous underwater vehicle to implement completely cruising in subsea environment and path tracking is important technology as well, especially for multi-AUV (Autonomous underwater vehicle) cruising with a fleet formate. In this paper, algorithms path planning and path tracking are addressed for an open frame AUV. Fast Marching algorithm is applied to solve problems...
Abstract-This paper introduces a kinematic model of a deep-sea mining vehicle in presence of sliding parameters. The model describes both the noises features of sliding parameters and the deep-sea condition features. To handle sliding parameters noises, a recursive algorithm to minimize difference between the filter-computed and the actual innovation covariance is adopted, which is a novel integrated...
Fussy control is restricted by complexity of fussy rules, in the motion control of underwater vehicle. Aiming at adjustment of fussy rules, after decoupling of 6 DOF, the alterable-rule algorithm of fussy control is brought forward, in underwater vehicle motion control. Motion controller of underwater vehicle is designed by apery intelligence. The advantages of S-plane control and fussy control are...
In this paper, we investigate the leader-follower formation control of underactuated autonomous underwater vehicles (AUVs). By using position measurements from the leader, we design a virtual vehicle such that the trajectory of the virtual vehicle converges to the reference trajectory of the follower. A position tracking control is designed for the follower to track the virtual vehicle using Lyapunov...
Road information is useful in many fields. In this paper, a real-time mapping system is presented to acquire the image and determine the geometry of the road. These include designs of platform and instruments, data transmission, processing and archiving. Compare with the traditional platforms, the UAV (Unmanned Aerial Vehicle) platforms offer greater flexibility, shorter response time and is able...
This paper focuses on preliminary results of a system for online video mosaicing for ROVs operating in the proximity of the seabed. The proposed approach relies on a simultaneous localisation and mapping (SLAM) system already tested in typical operating conditions with the Romeo ROV. In particular, previous experimental activity demonstrated the possibility of defining suitable unambiguous features,...
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