A Novel Neural Network-Based SINS/DVL Integrated Navigation Approach to Deal with DVL Malfunction for Underwater Vehicles
نویسندگان
چکیده
منابع مشابه
Towards a Dvl-based Navigation System for an Underwater Robot
This paper represents a first step towards a navigation system based on a ARGONAUT DVL (Doppler Velocity Log) sensor for an underwater remotely operated vehicle (ROV). The sensor measures the water currents, the vehicle ground speed, the altitude, the depth and its attitude. The navigation system is formulated in a way that is able to deal with the future integration of new sensors like a DGPS....
متن کاملNeural network-based underwater image classification for Autonomous Underwater Vehicles
Image processing has been one of hot issues for real world robot applications such as navigation and visual servoing. In case of underwater robot application, however, conventional optical camera-based images have many limitations for real application due to visibility in turbid water, image saturation under underwater light in the deep water, and short visible range in the water. Thus, most of...
متن کاملA Neural Network Based Controller for Underwater Robotic Vehicles
Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated underwater vehicles based. The adopted approach is developed using Lyapunov Stability Theory and enhanced by a neural network based algorithm for uncertainty and di...
متن کاملMosaic Based Navigation for Autonomous Underwater Vehicles
We propose an approach for vision-based navigation of underwater robots that relies on the use video mosaics of the sea bottom as environmental representations for navigation. We present a methodology for building high quality video mosaics of the sea bottom, in a fully automatic manner, that ensures global spatial coherency. During navigation, a set of efficient visual routines are used for th...
متن کاملNeural Network-Based Self-Tuning PID Control for Underwater Vehicles
For decades, PID (Proportional + Integral + Derivative)-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decade...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2020
ISSN: 1024-123X,1563-5147
DOI: 10.1155/2020/2891572