نتایج جستجو برای: auv
تعداد نتایج: 1309 فیلتر نتایج به سال:
In this study, the roll, yaw and depth fuzzy control of an Autonomous 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 flaps at the rear of the vehicle as actuators. Two rule bases...
We present a system for autonomous underwater navigation as implemented on a Nekton Ranger autonomous underwater vehicle, AUV. This is one of the rst implementations of a practical application for simultaneous localization and mapping on an AUV. Besides being an application of real-time SLAM, the implemtation demonstrates a novel data fusion solution where data from 7 sources are fused at di er...
This paper focuses on a critical component of the situational awareness (SA), the neural control of autonomous constant depth flight of an autonomous underwater vehicle (AUV). Autonomous constant depth flight is a challenging but important task for AUVs to achieve high level of autonomy under adverse conditions. The fundamental requirement for constant depth flight is the knowledge of the depth...
This paper focuses on a critical component of the situational awareness (SA), the neural control of depth flight of an autonomous underwater vehicle (AUV). Constant depth flight is a challenging but important task for AUVs to achieve high level of autonomy under adverse conditions. With the SA strategy, we proposed a multirate neural control of an AUV trajectory using neural network model refer...
Time-growing navigation error due to inevitable measurement errors in the MEMS-grade inertial sensor is one of the main challenges in low-cost inertial navigation systems (INSs). This paper aims to develop AHRS/GPS/DR integrated navigation algorithm for long-range autonomous underwater vehicle (AUV). Proper performance in deals with long-term GPS outage is the main advantage of the proposed low...
زیرآبی های خودمختار (َauvs) به طور فزاینده در کاربردهای دریایی به منظور به دست آوردن اطلاعات در زیرآب مورد استفاده قرار می گیرند. در این پایان نامه، یک الگوریتم کنترل توپولوژی توزیع شده با هدف حداکثرسازی پوشش نقاط مورد نظر در محیط توسط auvها در محیط سه بعدی زیر آب، ارائه شده است. این الگوریتم هر auv را توانمند می سازد که تنها بر اساس اطلاعات محدودی که از همسایگانش به دست می آورد، تصمیم گیری نمای...
A neural network based robust control system design for the yaw angle of autonomous underwater vehicle (AUV) is presented in this paper. Two types of control structure were used to control prescribed trajectories of an AUV. The results of the simulation showed that the proposed neural network based robust control system has superior performance in adapting to large random disturbances such as w...
Let m,n > 1 be integers and Pn,m be the point set of the projective (n − 1)-space (defined by [2]) over the ring Zmof integers modulo m. Let An,m = (auv) be the matrix with rows and columns being labeled by Pn,m, where auv = 1 if the inner product 〈u, v〉 = 0 and auv = 0 otherwise. Let Bn,m = An,mA t n,m. The eigenvalues of Bn,m have been studied by [1, 2, 3], where their applications in the stu...
The paper addresses the problem of autonomous underwater vehicle (AUV) control in the absence of full state information. An application is made to the control of a prototype AUV in the vertical plane. The methodology adopted for controller design is nonlinear gain scheduling control, whereby a set of linear, dynamic reduced order output feedback controllers are designed and scheduled on the veh...
Present study presents a novel region boundary-based tracking control for an Autonomous Underwater Vehicle (AUV). The control objective is to track a moving target formed by the union of all boundaries. In this case, multiplicative potential energy function is used to unite all the boundaries and various shapes can be created using this function. It is interesting to note that the AUV will be p...
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