Acoustic motion estimation and control for autonomous underwater vehicles.
MetadataShow full item record
An integrated model of acoustic motion estimation and control is presented. The control system is designed on the basis of the definitions of suitable Lyapunov functions for the different maneuvers in approaching a target. These functions allow the navigation and maneuvering tasks to be performed in a two-layered hierarchical architecture for closed-loop control. The motion estimation algorithm uses pencil beam profiling sonar range and bearing information. The operating environment is modeled with a suitable three- dimensional potential function and its gradient which forms an attractive field. This algorithm provides satisfactory performance for autonomous navigation and obstacle avoidance. The applicability and robustness of this model are demonstrated with both actual test data obtained with the NPS Phoenix submersible and computer generated simulation data. The results show the effectiveness of the combined estimation and control model.
Showing items related by title, author, creator and subject.
Experimental Verification of Attitude Control Techniques for Slew Maneuvers of Flexible Spacecraft Hailey, J.; Sortun, C.; Agrawal, B.N. (1992);This paper presents experimental verification of modern and classical control laws on flexible spacecraft structures. The Flexible Spacecraft Simulator at the Naval Postgraduate School is designed to test a variety of ...
An investigation into the long-term impact of the calibration of software estimation models using raw historical data Shadle, Daryl Allen. (Monterey, California. Naval Postgraduate School, 1994-09);The benefit of software cost estimation is universally recognized as one of the cornerstones of effective software project management and control. Despite the advances of computer-based estimation tools, their accuracy ...
Guidance and navigation software architecture design for the Autonomous Multi-Agent Physically Interacting Spacecraft (AMPHIS) test bed Eikenberry, Blake D. (Monterey California. Naval Postgraduate School, 2006-12);The Autonomous Multi-Agent Physically Interacting Spacecraft (AMPHIS) test bed examines the problem of multiple spacecraft interacting at close proximity. This thesis contributes to this on-going research by addressing the ...