Nonlinear heading control of an autonomous underwater vehicle with internal actuators

2016 ◽  
Vol 125 ◽  
pp. 103-112 ◽  
Author(s):  
Bo Li ◽  
Tsung-Chow Su
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Heading Control

scholarly journals Design, Analysis and Development of Autonomous Underwater vehicle

2019 ◽  
Vol 9 (2) ◽  
pp. 3805-3810
Keyword(s):  
Object Recognition ◽  
Motion Control ◽  
Water Surface ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Heading Control ◽  
Underwater Object ◽  
Institute Of Technology

Autonomous Underwater Vehicles (AUV) are slowly operated unmanned robots which Capable of propelling on pre-defined mission tracks independently under the water surface and are frequently used for oceanographic exploration, bathymetric surveys and defense applications. This AUV can perform underwater object recognition and obstacle avoidance with the use of appropriate sensors and devices. Vidyut is a miniature AUV developed at Sri Sairam Institute of Technology. The vehicle is equipped with six thrusters which allow for motion control in 6 Dof and has a non-conventional single hull heavy bottom hydrodynamic design. This paper discusses different aspects of the vehicle's unique design. The output of the Arduino Uno controller has been discussed for continuous depth and heading control.

scholarly journals Visual feedback–based heading control of autonomous underwater vehicle for pipeline corrosion inspection

2017 ◽  
Vol 14 (3) ◽  
pp. 172988141665817 ◽  
Author(s):  
Amjad Khan ◽  
Syed Saad Azhar Ali ◽  
Fabrice Meriaudeau ◽  
Aamir Saeed Malik ◽  
Lim Sheng Soon ◽  
...  
Keyword(s):  
Visual Feedback ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Heading Control ◽  
Pipeline Corrosion

scholarly journals Soft-Switching Proximate Time Optimal Heading Control for Underactuated Autonomous Underwater Vehicle

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 143233-143249 ◽  
Author(s):  
An Li ◽  
Li Ye ◽  
Jiang Yanqing ◽  
Li Yueming ◽  
Cao Jian ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Soft Switching ◽  
Heading Control ◽  
Time Optimal

Proximate time optimal for the heading control of underactuated autonomous underwater vehicle with input nonlinearities

2020 ◽  
Vol 95 ◽  
pp. 102002 ◽  
Author(s):  
Li An ◽  
Ye Li ◽  
Jian Cao ◽  
Yanqing Jiang ◽  
Jiayu He ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Heading Control ◽  
Time Optimal

scholarly journals Sliding mode heading control of an overactuated, hover-capable autonomous underwater vehicle with experimental verification

2017 ◽  
Vol 35 (3) ◽  
pp. 396-415 ◽  
Author(s):  
Kantapon Tanakitkorn ◽  
Philip A. Wilson ◽  
Stephen R. Turnock ◽  
Alexander B. Phillips
Keyword(s):  
Experimental Verification ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Heading Control

scholarly journals Model Predictive Control of Autonomous Underwater Vehicles Based on Horizon Optimization

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Sudirman Sudirman
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Energy Use ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Test Results ◽  
Heading Control ◽  
Made In

Heading control of Autonomous Underwater Vehicle (AUV) using Model Predictive Control (MPC) gives a good performance. Varying the length of the horizon provides a variety of performance. This paper is made in order to find out how many optimal horizons are needed to obtain the highest efficiency of energy use in AUV. Test results show a positive correlation between the length of the horizon and the amount of energy used. The optimal horizon obtained is then tested on several different trajectories.

Heading control for an Autonomous Underwater Vehicle using ELM-based Q-learning

2017 ◽  
Author(s):  
Dianrui Wang ◽  
Yue Shen ◽  
Qixin Sha ◽  
Guangliang Li ◽  
Jingtao Jiang ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Q Learning ◽  
Heading Control
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