[PDF] Communication And Control For Fleets Of Autonomous Underwater Vehicles eBook

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Page : 12 pages
File Size : 24,10 MB
Release : 2006
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The communication and control performance of autonomous underwater vehicles (AUVs) relates directly to the tactical warfighting capability for force multiplication and improved effectiveness. The project objective is to develop a comprehensive design procedure for communication among, and decentralized control of, a fleet of AUVs. The AUVs consist of small submarines, called "swimmers," and small tracked vehicles called "crawlers." The vehicles are capable of organizing themselves in specified geometric patterns and navigating between predetermined points and around obstacles. Communication and distributed control concepts for a fleet of cooperating AUVs were investigated theoretically, by computer simulation, and through prototype testing in a controlled in-water environment. The testing was performed at the NSWCCD facilities at Bayview, Idaho. We investigated both fuzzy logic and system theoretic approaches to the control problem. We investigated and developed communication strategies appropriate for the fleet-wide control problem.

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Page : 10 pages
File Size : 27,41 MB
Release : 2006
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The authors investigated approaches for designing the control and communication structure for fleets of autonomous underwater vehicles. They developed human-operated surface ships to provide an inexpensive method for testing these algorithms for possible use on fleets of multiple vehicles. The testing was performed at the NSWCCD ARD in Bayview, Idaho; it demonstrated a formation control algorithm that minimizes the communication needed to maintain formation. The system is a variation of a leader-follower formation where the leader periodically broadcasts its position to all the vehicles. This formation was shown to be robust and tolerant to loss of communication or the loss of any vehicle including the leader in computer simulations with a program developed at NAVSEA CSS called ALWSE-MC. The simulations show that the algorithm can be expanded to control a large number of vehicles. Preliminary measurements and analysis of the performance of a two-hydrophone sensor were performed. This sensor can be used to provide an update of the leader's location every time the leader pings for navigation or communicates in any way.

Author : Jing Yan
Publisher : Springer Nature
Page : 222 pages
File Size : 10,22 MB
Release : 2021-11-01
Category : Technology & Engineering
ISBN : 9811660964

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Autonomous underwater vehicles (AUVs) are emerging as a promising solution to help us explore and understand the ocean. The global market for AUVs is predicted to grow from 638 million dollars in 2020 to 1,638 million dollars by 2025 – a compound annual growth rate of 20.8 percent. To make AUVs suitable for a wider range of application-specific missions, it is necessary to deploy multiple AUVs to cooperatively perform the localization, tracking and formation tasks. However, weak underwater acoustic communication and the model uncertainty of AUVs make achieving this challenging. This book presents cutting-edge results regarding localization, tracking and formation for AUVs, highlighting the latest research on commonly encountered AUV systems. It also showcases several joint localization and tracking solutions for AUVs. Lastly, it discusses future research directions and provides guidance on the design of future localization, tracking and formation schemes for AUVs. Representing a substantial contribution to nonlinear system theory, robotic control theory, and underwater acoustic communication system, this book will appeal to university researchers, scientists, engineers, and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of AUVs. Moreover, the practical localization, tracking and formation schemes presented provide guidance on exploring the ocean. The book is intended for those with an understanding of nonlinear system theory, robotic control theory, and underwater acoustic communication systems.

Author : Tien Anh Tran
Publisher : CRC Press
Page : 191 pages
File Size : 40,78 MB
Release : 2023-12-04
Category : Technology & Engineering
ISBN : 1003817025

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The development of intelligent transportation systems, especially autonomous underwater vehicles, has become significant in marine engineering, with an aim to enhance energy efficiency management and communication systems. This book covers different aspects of optimization of autonomous underwater vehicles and their propulsion systems via machine learning techniques. It further analyses hydrodynamic characteristics including the study of experimental investigation combined with hydrodynamic characteristics backed by MATLAB® codes and simulation study results. Features: Covers utilization of machine learning techniques with a focus on marine science and ocean engineering. Details effect of the intelligent transportation system (ITS) into the sustainable environment and ecology system. Evaluates performance of particle swarm intelligence-based optimization techniques. Reviews propulsion performance of the remote-controlled vehicles based on machine learning techniques. Includes MATLAB® examples and simulation study results. This book is aimed at graduate students and researchers in marine engineering and technology, computer science, and control system engineering.

Author : William J. Marr
Publisher :
Page : 198 pages
File Size : 47,27 MB
Release : 2003-06-01
Category : Data transmission systems
ISBN : 9781423501282

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Advances in command and control of Autonomous Underwater Vehicles (AUVs) using acoustic communications are crucial to future Fleet objectives, particularly in Very Shallow Water Mine Countermeasures (VSW MCM). Understanding of the capability to redirect missions, provide relatively high rate downloads of mission information, and perform cooperative tracking for multi-vehicle systems is cunently limited to some bounding data based on fixed node expenments while the impact of working in the environment presented by a moving vehicle is not understood. The main objectives of this dissertation were to investigate and demonstrate the capabilities of tactical acoustic control of a dynamic, operational underwater vehicle in the Very Shallow Water (VSW) ocean environment. This necessarily required studies on the limitations of Acoustic Control and relatively High Data Rate Transfer when using commercial acoustic modems in underwater vehicles, and an investigation of their acoustic transmission characteristics. Comprehensive empirical evidence through field validation with the ARIES vehicle indicated that reduced ranges were required for successful acoustic communications in a realistic very shallow water environment. Background noise, multipath reflections, and vehicle induced Doppler shifts all limit the communication link. Occasionally, configurations may be found where vehicle body shielding against multipath destructive interference can be used to advantage. A simulation was developed to demonstrate a solution for reducing the range and conducting multi-vehicle behaviors for cooperative tracking and acoustic communications data transfer.

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Page : 11 pages
File Size : 48,10 MB
Release : 2008
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Autonomous underwater vehicles (AUVs) have a demonstrated capability to collect valuable data for scientific and military purposes. Historically, individual vehicles have been used. To reduce the overall time and cost of acquiring data over large areas, multiple vehicles must be used. A fleet of 5 AUVs, capable of underwater commendation, were fabricated. Languages and logics were developed to enable collaborative operations among the vehicles. Experiments with a formation of 5 AUVs operating underwater simultaneously are described. The AUVs operated autonomously, in that they enabled their operations on their own, initiated and constrained by underwater acoustic communication and navigation against a general behavioral background provided by programmed logics. The operations were not choreographed in advance and programmed into the machines, nor were they the result of intervention by an operator on the surface. The vehicles performed deployment, formation-flying, vehicle replacement, divert-to-point of interest, and leader replacement behaviors. The experiments show that autonomous collaborative behavior by 5 AUVs is possible under the constraints of underwater acoustic navigation and acoustic communication.

Author : Gwyn Griffiths
Publisher : CRC Press
Page : 369 pages
File Size : 27,2 MB
Release : 2002-11-28
Category : Technology & Engineering
ISBN : 0203522303

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The oceans are a hostile environment, and gathering information on deep-sea life and the seabed is incredibly difficult. Autonomous underwater vehicles are robot submarines that are revolutionizing the way in which researchers and industry obtain data. Advances in technology have resulted in capable vehicles that have made new discoveries on how th

Author : Committee on Undersea Vehicles and National Needs
Publisher : National Academies Press
Page : 114 pages
File Size : 44,46 MB
Release : 1996-12-03
Category : Science
ISBN : 0309588723

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The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.

Author : Nuno Cruz
Publisher : BoD – Books on Demand
Page : 274 pages
File Size : 47,39 MB
Release : 2011-10-21
Category : Transportation
ISBN : 9533074329

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Autonomous Underwater Vehicles (AUVs) are remarkable machines that revolutionized the process of gathering ocean data. Their major breakthroughs resulted from successful developments of complementary technologies to overcome the challenges associated with autonomous operation in harsh environments. Most of these advances aimed at reaching new application scenarios and decreasing the cost of ocean data collection, by reducing ship time and automating the process of data gathering with accurate geo location. With the present capabilities, some novel paradigms are already being employed to further exploit the on board intelligence, by making decisions on line based on real time interpretation of sensor data. This book collects a set of self contained chapters covering different aspects of AUV technology and applications in more detail than is commonly found in journal and conference papers. They are divided into three main sections, addressing innovative vehicle design, navigation and control techniques, and mission preparation and analysis. The progress conveyed in these chapters is inspiring, providing glimpses into what might be the future for vehicle technology and applications.

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Publisher :
Page : 10 pages
File Size : 26,31 MB
Release : 2006
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We designed and fabricated four mini-autonomous underwater vehicles (mAUVs). These vehicles are used to provide an inexpensive method for testing communication and control algorithms for multiple vehicles. The vehicle testing is being performed at the NSWCCD Acoustic Research Detachment, ARD, in Bayview, Idaho. The mechanical-design of these vehicles was based in the Virginia Polytechnic Institute but with the addition of a Woods Hole Oceanographic Institute (WHOI) micro-modem that allowed for underwater communication and positioning. The control system for the mAUV also uses an innovative distributed computing approach developed at the UI consisting of multiple low-cost microcontrollers and was also different from the Virginia Polytechnic vehicle design. In addition, equipment for a Baseline Navigation System was included in this development to monitor and provide LBL positioning data for the mAUVs. This work supplements work currently underway at the University of Idaho funded by the Office of Naval Research.