Autonomous optimal rendezvous of underwater vehicles

Loading...
Thumbnail Image
Authors
Nicholson, John W.
Subjects
AUV,UUV
robotics
rendezvous
cooperative behavior
trajectory planning
path planning
acoustic communications
state machine
optimal control
Advisors
Healey, Anthony
Date of Issue
2004-09
Date
September 2004
Publisher
Monterey California. Naval Postgraduate School
Language
Abstract
The capability of an autonomous underwater vehicle (AUV) to rendezvous with other AUVs was implemented and demonstrated in the Naval Postgraduate School ARIES AUV; providing a method of overcoming the severe range limitations of high-bandwidth underwater data transfer methods in order to enable accelerated access to data collected by a network of data-gathering survey AUVs. Rendezvous was implemented by autonomous reconfiguration of ARIES' operations, using a mission planning module to combine acousticallytransmitted rendezvous requests from survey AUVs with pre-stored survey AUV mission data to generate rendezvous missions based either on time-optimal or energy-optimal trajectories. The planning module efficiently generates rendezvous trajectories based on solutions derived using optimal control theory. A new third layer of control, based on a finite state machine, was added above ARIES' autopilot and mission execution functions in order to initiate mission planning and replanning, activate missions, sequence vehicle operations through seven defined states, control acoustic communications, and handle perturbations and missed rendezvous.
Type
Description
Series/Report No
Department
Mechanical Engineering
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
xvi, 128 p. : ill. (some col.) ; 28 cm.
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.
Collections