Magnetic anomaly guidance system for mine countermeasures using autonomous underwater vehicles

2003 ◽  
Author(s):  
R. Wiegert
Keyword(s):  
Magnetic Anomaly ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Guidance System ◽  
Mine Countermeasures

scholarly journals Autonomous Underwater Vehicles and Field of View in Underwater Operations

2021 ◽  
Vol 9 (3) ◽  
pp. 277
Author(s):  
Isaac Segovia Ramírez ◽  
Pedro José Bernalte Sánchez ◽  
Mayorkinos Papaelias ◽  
Fausto Pedro García Márquez
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Field Of View ◽  
Guidance System ◽  
Control Algorithms ◽  
Deep Waters ◽  
Underwater Cameras ◽  
Optimal Resolution ◽  
Acquisition Processes ◽  
And Control

Submarine inspections and surveys require underwater vehicles to operate in deep waters efficiently, safely and reliably. Autonomous Underwater Vehicles employing advanced navigation and control systems present several advantages. Robust control algorithms and novel improvements in positioning and navigation are needed to optimize underwater operations. This paper proposes a new general formulation of this problem together with a basic approach for the management of deep underwater operations. This approach considers the field of view and the operational requirements as a fundamental input in the development of the trajectory in the autonomous guidance system. The constraints and involved variables are also defined, providing more accurate modelling compared with traditional formulations of the positioning system. Different case studies are presented based on commercial underwater cameras/sonars, analysing the influence of the main variables in the measurement process to obtain optimal resolution results. The application of this approach in autonomous underwater operations ensures suitable data acquisition processes according to the payload installed onboard.

Concept and testing of an electromagnetic homing guidance system for autonomous underwater vehicles

2018 ◽  
Vol 73 ◽  
pp. 149-159 ◽  
Author(s):  
Bala Naga Jyothi Vandavasi ◽  
Umapathy Arunachalam ◽  
Vedachalam Narayanaswamy ◽  
Ramesh Raju ◽  
Doss Prakash Vittal ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Guidance System

Collaborative Behavior for Vehicle Replacement in AUV Formations

2005 ◽  
Author(s):  
Andrew G. Rajala ◽  
Dean B. Edwards ◽  
Micheal O’Rourke
Keyword(s):  
Fuzzy Logic ◽  
Control Structure ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Common Language ◽  
Large Area ◽  
Collaborative Behavior ◽  
Baseline Case ◽  
Language Control ◽  
Mine Countermeasures

The Navy would like to use platoons of cooperating Autonomous Underwater Vehicles (AUVs) for large area underwater mine countermeasures (MCM). Collaborative behavior requires a common language, control structure, and logic so the AUVs can coordinate their action through communication. The loss of an AUV (can no longer perform assigned tasks) is a problem the formation is likely to face. The formation must compensate for lost AUVs, or time would be wasted in researching the area. In order to replace a lost AUV, the formation must determine when a vehicle is lost and what to do if a vehicle returns after being declared lost. To address these problems, fuzzy logic was used to determine when an AUV should be replaced, and a logic structure was developed to insert returning AUVs. Computer simulations showed that the logics increased the defined performance index by about 70% over the baseline case.

scholarly journals A Low-Cost Electromagnetic Docking Guidance System for Micro Autonomous Underwater Vehicles

Sensors ◽  
2019 ◽  
Vol 19 (3) ◽  
pp. 682 ◽  
Author(s):  
Shilin Peng ◽  
Jingbiao Liu ◽  
Junhao Wu ◽  
Chong Li ◽  
Benkun Liu ◽  
...  
Keyword(s):  
Large Scale ◽  
Low Cost ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Guidance System ◽  
Electromagnetic Signal ◽  
Spatiotemporal Resolution ◽  
Search Coil ◽  
Wide Range ◽  
Processing Subsystem

As important observational platforms for the Smart Ocean concept, autonomous underwater vehicles (AUVs) that perform long-term observation in fleets are beneficial because they provide large-scale sampling data with a sufficient spatiotemporal resolution. Therefore, a large number of low-cost micro AUVs with docking capability for power recharge and data transmission are essential. This study designed a low-cost electromagnetic docking guidance (EMDG) system for micro AUVs. The EMDG system is composed of a transmitter coil located on the dock and a three-axial search coil magnetometer acting as a receiver. The search coil magnetometer was optimized for small sizes while maintaining sufficient sensitivity. The signal conditioning and processing subsystem was designed to calculate the deflection angle (β) for docking guidance. Underwater docking tests showed that the system can detect the electromagnetic signal and successfully guide AUV docking. The AUV can still perform docking in extreme positions, which cannot be realized through normal optical or acoustic guidance. This study is the first to focus on the EM guidance system for low-cost micro AUVs. The search coil sensor in the AUV is inexpensive and compact so that the system can be equipped on a wide range of AUVs.

A Review of Guidance Laws Applicable to Unmanned Underwater Vehicles

2003 ◽  
Vol 56 (1) ◽  
pp. 15-29 ◽  
Author(s):  
W. Naeem ◽  
R. Sutton ◽  
S. M. Ahmad ◽  
R. S. Burns
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Guidance System ◽  
Unmanned Underwater Vehicles ◽  
Guidance And Control ◽  
Autonomous Operation ◽  
Guidance Law ◽  
Guidance Strategies ◽  
And Control ◽  
Guidance Laws

The main problem in bringing autonomy to any vehicle lies in the design of a suitable guidance law. For truly autonomous operation, the vehicle needs to have a reliable Navigation, Guidance and Control (NGC) system of which the guidance system is the key element that generates suitable trajectories to be followed. In this review paper, various guidance laws found in the literature and their relevance to autonomous underwater vehicles (AUVs) are discussed. Since existing guidance laws for underwater vehicles have emulated from tactical airborne missile systems, a number of approaches for the missile guidance systems are considered. Finally, potential guidance strategies for AUVs are proposed.

scholarly journals Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments

Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7237
Author(s):  
Zorana Milosevic ◽  
Ramon A. Suarez Fernandez ◽  
Sergio Dominguez ◽  
Claudio Rossi
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Experimental Tests ◽  
Underwater Vehicles ◽  
Guidance System ◽  
Underground Mines ◽  
Hardware In The Loop ◽  
Design Concepts ◽  
Overall Design ◽  
Robot Systems ◽  
Geoscientific Data

In this work, we present the design, implementation, and testing of a guidance system for the UX-1 robot, a novel spherical underwater vehicle designed to explore and map flooded underground mines. For this purpose, it needs to navigate completely autonomously, as no communications are possible, in the 3D networks of tunnels of semistructured but unknown environments and gather various geoscientific data. First, the overall design concepts of the robot are presented. Then, the guidance system and its subsystems are explained. Finally, the system’s validation and integration with the rest of the UX-1 robot systems are presented. A series of experimental tests following the software-in-the-loop and the hardware-in-the-loop paradigms have been carried out, designed to simulate as closely as possible navigation in mine tunnel environments. The results obtained in these tests demonstrate the effectiveness of the guidance system and its proper integration with the rest of the systems of the robot, and validate the abilities of the UX-1 platform to perform complex missions in flooded mine environments.

Multiple Autonomous Underwater Crawler Control for Mine Reacquisition

2005 ◽  
Author(s):  
Douglas M. Welling ◽  
Dean B. Edwards
Keyword(s):  
Fuzzy Logic ◽  
Control Strategies ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Motion Controller ◽  
Scheduling System ◽  
Additional Information ◽  
Baseline System ◽  
Target Strategy ◽  
Mine Countermeasures

Autonomous Underwater Vehicles (AUVs) are currently being used by the Navy for mine countermeasures. AUVs include both submarine and tracked crawlers. Recent search strategies have been implemented using both submarines and crawlers; submarines to sweep large areas to detect possible mines, and crawler to re-acquire the possible mines and perform classification. The primary scope of this paper is the control strategies for the crawlers to best cover an area. Both a motion controller and a mine reacquisition scheduling system were developed. Simulations were performed using Autonomous Littoral Warfare Systems Evaluator - Monte Carlo (ALWSEMC) to complete studies on optimal crawler control strategies. These simulations included 1 submarine and 3 crawlers. Two reacquisition scheduling systems were compared, one using a closest target strategy, and one using fuzzy logic that used additional information available to the crawler to best utilize time and resources. It was found that a fuzzy logic scheduling system outperformed the baseline system by reducing the amount of time to reacquire all targets.

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