Naval Postgraduate School
Dudley Knox Library
NPS Dudley Knox Library
View Item 
  •   Calhoun Home
  • Theses and Dissertations
  • 1. Thesis and Dissertation Collection, all items
  • View Item
  •   Calhoun Home
  • Theses and Dissertations
  • 1. Thesis and Dissertation Collection, all items
  • View Item
  • How to search in Calhoun
  • My Accounts
  • Ask a Librarian
JavaScript is disabled for your browser. Some features of this site may not work without it.

Browse

All of CalhounCollectionsThis Collection

My Account

LoginRegister

Statistics

Most Popular ItemsStatistics by CountryMost Popular Authors

Contour tracking control for the REMUS autonomous underwater vehicle

Thumbnail
Download
Icon05Jun_VanReet.pdf (877.8Kb)
Download Record
Download to EndNote/RefMan (RIS)
Download to BibTex
Author
Van Reet, Alan R.
Date
2005-06
Advisor
Healey, Anthony J.
Metadata
Show full item record
Abstract
In the interest of enhancing the capabilities of autonomous underwater vehicles US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation. Use of a contour tracking control algorithm in lieu of preprogrammed waypoint navigation offers distinct advantages within new challenges. The difficult nature of this problem lies in the non-trivial connection between the necessary corrective action and the feedback error used in traditional control methods. Stated simply, modern vehicle control algorithms separate horizontal and vertical plane navigation. The autonomous vehicle senses heading error and applies rudder to steer the vehicle to a desired heading. Simultaneously, the vehicle might sense altitude and apply stern plane angles to maintain a safe height above ground. This thesis research examines the new problem of sensing depth and altitude in the vertical plane while steering the vehicle horizontally to find a specified bathymetry contour. While more remains to understand, this research proves the existence of a solution and suggests similar approaches may facilitate tying vehicle navigation to other indirect sensors. This thesis presents two contour tracking control algorithms and examines the performance of each by simulating the response of the REMUS underwater vehicle to ideal and real-world bathymetry models.
URI
http://hdl.handle.net/10945/1880
Collections
  • 1. Thesis and Dissertation Collection, all items

Related items

Showing items related by title, author, creator and subject.

  • Thumbnail

    Optimizing safe motion for autonomous vehicles 

    Shirasaka, Masahide (Monterey, California. Naval Postgraduate School, 1994-09);
    There are two goals for autonomous vehicle navigation planning: shortest path and safe path. These goals are often in conflict; path safety is more important. Safety of the autonomous vehicle's navigation is determined by ...
  • Thumbnail

    AUTONOMOUS GROUND VEHICLE LOW-PROFILE OBSTACLE AVOIDANCE USING 2D LIDAR 

    Miyakawa, Alexander S. (Monterey, CA; Naval Postgraduate School, 2019-09);
    In future conflicts, the United States Marine Corps will augment the capabilities of the individual Marine with autonomous vehicles able to traverse a wide range of terrain. The objective of this thesis is to investigate ...
  • Thumbnail

    Missile demonstrator for counter UAV applications 

    Rydalch, Fletcher D. (Monterey, California. Naval Postgraduate School, 2016-06);
    An autonomously guided rocket-powered delivery vehicle has been under development at the Naval Postgraduate School. Designed to eventually counter UAV swarm attacks, the vehicle made advances toward reaching a target in ...
NPS Dudley Knox LibraryDUDLEY KNOX LIBRARY
Feedback

411 Dyer Rd. Bldg. 339
Monterey, CA 93943
circdesk@nps.edu
(831) 656-2947
DSN 756-2947

    Federal Depository Library      


Start Your Research

Research Guides
Academic Writing
Ask a Librarian
Copyright at NPS
Graduate Writing Center
How to Cite
Library Liaisons
Research Tools
Thesis Processing Office

Find & Download

Databases List
Articles, Books & More
NPS Theses
NPS Faculty Publications: Calhoun
Journal Titles
Course Reserves

Use the Library

My Accounts
Request Article or Book
Borrow, Renew, Return
Tech Help
Remote Access
Workshops & Tours

For Faculty & Researchers
For International Students
For Alumni

Print, Copy, Scan, Fax
Rooms & Study Spaces
Floor Map
Computers & Software
Adapters, Lockers & More

Collections

NPS Archive: Calhoun
Restricted Resources
Special Collections & Archives
Federal Depository
Homeland Security Digital Library

About

Hours
Library Staff
About Us
Special Exhibits
Policies
Our Affiliates
Visit Us

NPS-Licensed Resources—Terms & Conditions
Copyright Notice

Naval Postgraduate School

Naval Postgraduate School
1 University Circle, Monterey, CA 93943
Driving Directions | Campus Map

This is an official U.S. Navy Website |  Please read our Privacy Policy Notice  |  FOIA |  Section 508 |  No FEAR Act |  Whistleblower Protection |  Copyright and Accessibility |  Contact Webmaster

Export search results

The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

A logged-in user can export up to 15000 items. If you're not logged in, you can export no more than 500 items.

To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.