Advances in Unmanned Marine Vehicles
| Date: 28 April 2011, 06:01
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Advances in Unmanned Marine Vehicles (IEE Control Series)
By Robert Sutton, Geoff Roberts
* Publisher: Institution of Engineering and Technology
* Number Of Pages: 441
* Publication Date: 2006-01-31
* ISBN-10 / ASIN: 0863414508
* ISBN-13 / EAN: 9780863414503
Product Description:
Unmanned marine vehicles (UMVs) include autonomous underwater vehicles, remotely operated vehicles, semi-submersibles and unmanned surface craft. Considerable importance is being placed on the design and development of such vehicles as they provide cost effective solutions to a number of littoral, coastal and offshore problems. This new book highlights the advanced technology which is evolving to meet the challenges being posed in this exciting and growing area of research.
Contents
List of Authors xv
1 Editorial: navigation, guidance and control of unmanned marine
vehicles 1
G.N. Roberts and R. Sutton
1.1 Introduction 1
1.2 Contributions 4
1.3 Concluding Remarks 11
2 Nonlinear modelling, identification and control of UUVs 13
T.I. Fossen and A. Ross
2.1 Introduction 13
2.1.1 Notation 13
2.2 Modelling of UUVs 14
2.2.1 Six DOF kinematic equations 14
2.2.2 Kinetics 16
2.2.3 Equations of motion 16
2.2.4 Equations of motion including ocean currents 19
2.2.5 Longitudinal and lateral models 20
2.3 Identification of UUVs 24
2.3.1 A priori estimates of rigid-body parameters 25
2.3.2 A priori estimates of hydrodynamic added mass 25
2.3.3 Identification of damping terms 25
2.4 Nonlinear control of UUVs 31
2.4.1 Speed, depth and pitch control 32
2.4.2 Heading control 37
2.4.3 Alternative methods of control 40
2.5 Conclusions 40
3 Guidance laws, obstacle avoidance and artificial potential
functions 43
A.J. Healey
3.1 Introduction 43
3.2 Vehicle guidance, track following 44
3.2.1 Vehicle steering model 45
3.2.2 Line of sight guidance 46
3.2.3 Cross-track error 47
3.2.4 Line of sight with cross-track error controller 49
3.2.5 Sliding mode cross-track error guidance 50
3.2.6 Large heading error mode 51
3.2.7 Track path transitions 52
3.3 Obstacle avoidance 52
3.3.1 Planned avoidance deviation in path 52
3.3.2 Reactive avoidance 54
3.4 Artificial potential functions 59
3.4.1 Potential function for obstacle avoidance 61
3.4.2 Multiple obstacles 62
3.5 Conclusions 64
3.6 Acknowledgements 65
4 Behaviour control of UUVs 67
M. Carreras, P. Ridao, R. Garcia and J. Batlle
4.1 Introduction 67
4.2 Principles of behaviour-based control systems 69
4.2.1 Coordination 71
4.2.2 Adaptation 72
4.3 Control architecture 72
4.3.1 Hybrid coordination of behaviours 73
4.3.2 Reinforcement learning-based behaviours 75
4.4 Experimental set-up 76
4.4.1 URIS UUV 76
4.4.2 Set-up 78
4.4.3 Software architecture 78
4.4.4 Computer vision as a navigation tool 79
4.5 Results 80
4.5.1 Target tracking task 80
4.5.2 Exploration and mapping of unknown environments 82
4.6 Conclusions 83
Thruster control allocation for over-actuated, open-frame
underwater vehicles 87
E. Omerdic and G.N. Roberts
5.1 Introduction 87
5.2 Problem formulation 88
5.3 Nomenclature 90
5.3.1 Constrained control subset 90
5.3.2 Attainable command set 91
5.4 Pseudoinverse 92
5.5 Fixed-point iteration method 95
5.6 Hybrid approach 96
5.7 Application to thruster control allocation for over-actuated
thruster-propelled UVs 98
5.8 Conclusions 103
6 Switching-based supervisory control of underwater vehicles 105
G. Ippoliti, L. Jetto and S. Longhi
6.1 Introduction 105
6.2 Multiple models switching-based supervisory control 106
6.3 The EBSC approach 109
6.3.1 An implementation aspect of the EBSC 110
6.4 The HSSC approach 111
6.4.1 The switching policy 111
6.5 Stability analysis 112
6.5.1 Estimation-based supervisory control 112
6.5.2 Hierarchically supervised switching control 113
6.6 The ROV model 114
6.6.1 The linearised model 116
6.7 Numerical results 116
6.8 Conclusions 121
7 Navigation, guidance and control of the
Hammerhead autonomous underwater vehicle 127
D. Loebis, W. Naeem, R. Sutton, J. Chudley and A. Tiano
7.1 Introduction 127
7.2 The Hammerhead AUV navigation system 129
7.2.1 Fuzzy Kalman filter 129
7.2.2 Fuzzy logic observer 130
7.2.3 Fuzzy membership functions optimisation 131
7.2.4 Implementation results 131
7.2.5 GPS/INS navigation 136
7.3 System modelling 145
7.3.1 Identification results 146
7.4 Guidance 147
7.5 Hammerhead autopilot design 148
7.5.1 LQG/LTR controller design 149
7.5.2 Model predictive control 150
7.6 Concluding remarks 155
8 Robust control of autonomous underwater vehicles and verification
on a tethered flight vehicle 161
Z. Feng and R. Allen
8.1 Introduction 161
8.2 Design of robust autopilots for torpedo-shaped AUVs 162
8.2.1 Dynamics of Subzero III (excluding tether) 163
8.2.2 Plant models for control design 165
8.2.3 Design of reduced-order autopilots 166
8.3 Tether compensation for Subzero III 169
8.3.1 Composite control scheme 169
8.3.2 Evaluation of tether effects 170
8.3.3 Reduction of tether effects 177
8.3.4 Verification of composite control by nonlinear
simulations 179
8.4 Verification of robust autopilots via field tests 181
8.5 Conclusions 183
9 Low-cost high-precision motion control for ROVs 187
M. Caccia
9.1 Introduction 187
9.2 Related research 189
9.2.1 Modelling and identification 189
9.2.2 Guidance and control 189
9.2.3 Sensing technologies 190
9.3 Romeo ROV mechanical design 192
9.4 Guidance and control 193
9.4.1 Velocity control (dynamics) 194
9.4.2 Guidance (task kinematics) 195
9.5 Vision-based motion estimation 196
9.5.1 Vision system design 196
9.5.2 Three-dimensional optical laser triangulation sensor 199
9.5.3 Template detection and tracking 200
9.5.4 Motion from tokens 201
9.5.5 Pitch and roll disturbance rejection 201
9.6 Experimental results 202
9.7 Conclusions 208
10 Autonomous manipulation for an intervention AUV 217
G. Marani, J. Yuh and S.K. Choi
10.1 Introduction 217
10.2 Underwater manipulators 218
10.3 Control system 218
10.3.1 Kinematic control 218
10.3.2 Kinematics, inverse kinematics and redundancy
resolution 223
10.3.3 Resolved motion rate control 223
10.3.4 Measure of manipulability 224
10.3.5 Singularity avoidance for a single task 225
10.3.6 Extension to inverse kinematics with task priority 227
10.3.7 Example 230
10.3.8 Collision and joint limits avoidance 230
10.4 Vehicle communication and user interface 232
10.5 Application example 233
10.6 Conclusions 236
11 AUV ‘r2D4’, its operation, and road map forAUV development 239
T. Ura
11.1 Introduction 239
11.2 AUV ‘r2D4’ and its no. 16 dive at Rota Underwater Volcano 240
11.2.1 R-Two project 240
11.2.2 AUV ‘r2D4’ 241
11.2.3 Dive to Rota Underwater Volcano 244
11.3 Future view of AUV research and development 248
11.3.1 AUV diversity 250
11.3.2 Road map of R&D of AUVs 252
11.4 Acknowledgements 253
12 Guidance and control of a biomimetic-autonomous underwater
vehicle 255
J. Guo
12.1 Introduction 255
12.2 Dynamic modelling 257
12.2.1 Rigid body dynamics 258
12.2.2 Hydrodynamics 263
12.3 Guidance and control of the BAUV 265
12.3.1 Guidance of the BAUV 266
12.3.2 Controller design 267
12.3.3 Experiments 270
12.4 Conclusions 273
13 Seabed-relative navigation by hybrid structured lighting 277
F. Dalgleish, S. Tetlow and R.L. Allwood
13.1 Introduction 277
13.2 Description of sensor configuration 279
13.3 Theory 279
13.3.1 Laser stripe for bathymetric and reflectivity seabed
profiling 281
13.3.2 Region-based tracker 283
13.4 Constrained motion testing 283
13.4.1 Laser altimeter mode 283
13.4.2 Dynamic performance of the laser altimeter process 285
13.4.3 Dynamic performance of region-based tracker 286
13.4.4 Dynamic imaging performance 288
13.5 Summary 291
13.6 Acknowledgements 291
14 Advances in real-time spatio-temporal 3D data visualisation for
underwater robotic exploration 293
S.C. Martin,
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