Loitering behaviors of autonomous underwater vehicles
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Authors
Williams, Douglas L.
Subjects
Autonomous Underwater Vehicles
Robotics
Loitering Behavior
Line of Sight Guidance Instability
Liapunov Stability/Instability Theorem
Robotics
Loitering Behavior
Line of Sight Guidance Instability
Liapunov Stability/Instability Theorem
Advisors
Healey, Anthony J.
Date of Issue
2002-06
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
In multi-vehicle mine hunting operations, it will be necessary at times for one vehicle to loiter at some point while gathering communications of data from other vehicles. The loitering behaviors of the ARIES Autonomous Underwater Vehicle have never been completely defined. The track that the vehicle chooses to maintain station while circling around one specific point for an extended period of time may be sometimes random and unpredictable, unless defined in terms of specific tracks. Simulations were run and analyzed for various conditions to record the tendencies of the vehicle during different current conditions and approach situations. The stability of the Heading Controller was then analyzed in order to predict the position where the Line of Sight Guidance algorithm becomes unstable. The data obtained through the simulations supports and explains the tendencies ARIES exhibits while circling around a loiter point.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Identifiers
NPS Report Number
Sponsors
Funding
Format
x, 72 p. : ill. (some col.) ;
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.