Magnetic sensor development for mine countermeasures using autonomous underwater vehicles

2000 ◽  
Author(s):  
Roy F. Weigert ◽  
Brian L. Price
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Magnetic Sensor ◽  
Sensor Development ◽  
Mine Countermeasures

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.

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.

A method for autonomous collision-free navigation of a quadrotor UAV in unknown tunnel-like environments

Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
Taha Elmokadem ◽  
Andrey V. Savkin
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicles ◽  
Practical Implementation ◽  
Challenging Problem ◽  
Quadrotor Uav ◽  
Navigation Algorithm ◽  
Aerial Vehicles ◽  
Quadrotor Uavs

Abstract Unmanned aerial vehicles (UAVs) have become essential tools for exploring, mapping and inspection of unknown three-dimensional (3D) tunnel-like environments which is a very challenging problem. A computationally light navigation algorithm is developed in this paper for quadrotor UAVs to autonomously guide the vehicle through such environments. It uses sensors observations to safely guide the UAV along the tunnel axis while avoiding collisions with its walls. The approach is evaluated using several computer simulations with realistic sensing models and practical implementation with a quadrotor UAV. The proposed method is also applicable to other UAV types and autonomous underwater vehicles.

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.

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