An Overview of Autonomous Underwater Vehicle Research and Testbed at PeRL
نویسندگان
چکیده
This article provides a general overview of the autonomous underwater vehicle (AUV) research thrusts being pursued within the Perceptual Robotics Laboratory (PeRL) at the University of Michigan. Founded in 2007, PeRL’s research centers on improving AUV autonomy via algorithmic advancements in environmentally based perceptual feedback for real-time mapping, navigation, and control. Our three major research areas are (1) real-time visual simultaneous localization and mapping (SLAM), (2) cooperative multi-vehicle navigation, and (3) perceptiondriven control. Pursuant to these research objectives, PeRL has developed a new multi-AUV SLAM testbed based upon a modified Ocean-Server Iver2 AUV platform. PeRL upgraded the vehicles with additional navigation and perceptual sensors for underwater SLAM research. In this article, we detail our testbed development, provide an overview of our major research thrusts, and put into context how our modified AUV testbed enables experimental real-world validation of these algorithms.
منابع مشابه
Identification of an Autonomous Underwater Vehicle Dynamic Using Extended Kalman Filter with ARMA Noise Model
In the procedure of designing an underwater vehicle or robot, its maneuverability and controllability must be simulated and tested, before the product is finalized for manufacturing. Since the hydrodynamic forces and moments highly affect the dynamic and maneuverability of the system, they must be estimated with a reasonable accuracy. In this study, hydrodynamic coefficients of an autonomous un...
متن کاملAutonomous Underwater Vehicle Hull Geometry Optimization Using a Multi-objective Algorithm Approach
Abstarct In this paper, a new approach to optimize an Autonomous Underwater Vehicle (AUV) hull geometry is presented. Using this methode, the nose and tail of an underwater vehicle are designed, such that their length constraints due to the arrangement of different components in the AUV body are properly addressed. In the current study, an optimal design for the body profile of a torpedo-shaped...
متن کاملکنترل مسیر خودکار میکرو زیردریایی 3 درجه آزادی با الهام از حرکت کوسهماهی
An autonomous underwater vehicle (AUV) with less noise and vortices as well as efficient power consumption, is pursued in this research by inspiration of shark swimming. Design, hydrodynamic analysis, modeling, fabrication, navigation, and control of this novel AUV is the main goal of this research. Detailed explanation of the test and experiment with a brief overview on fabrication are provide...
متن کاملOPTIMIZED FUZZY CONTROL DESIGN OF AN AUTONOMOUS UNDERWATER VEHICLE
In this study, the roll, yaw and depth fuzzy control of an Au- tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. The discussed AUV has four aps at the rear of the vehicle as actuators. Two rule bases...
متن کاملDesign and Experimental Evaluation of integrated orientation estimation algorithm Autonomous Underwater Vehicle Based on Indirect Complementary Filter
This paper aims is to design an integrated navigation system constituted by low-cost inertial sensors to estimate the orientation of an Autonomous Underwater Vehicle (AUV) during all phases of under water and surface missions. The proposed approach relied on global positioning system, inertial measurement unit (accelerometer & rate gyro), magnetometer and complementary filter technique. Complem...
متن کامل