Trajectory planning for the Aries AUV

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02Jun_Keegan.pdf (1.11 MB)
Authors
Keegan, John J.
Subjects
Underwater Vehicle
AUV
Trajectory Planning
Control
Advisors
Healey, Anthony J.
Date of Issue
2002-06
Date
Publisher
Monterey, Calif. Naval Postgraduate School
Language
Abstract
This thesis supports ongoing ONR research in the area of Autonomous Underwater Vehicles (AUVs) and Mine Warfare. It shows a simulation of a two-vehicle autonomous rendezvous using both along track and cross track position controllers. Conducting open water experiments with the ARIES AUV identified the added mass matrix and hydrodynamic coefficients of the longitudinal equation of motion. The results indicate that it will be possible to maneuver an AUV to a specific rendezvous point at a specified time. Two-vehicle rendezvous maneuvers are likely to be needed in multi-vehicle operations when data transfer between range-limited communications modems are used.
Type
Thesis
Description
URI
https://hdl.handle.net/10945/5899
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
x, 104 p. : col. ill. ;
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.
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