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dc.contributor.advisorHealey, Anthony J.
dc.contributor.authorFodrea, Lynn
dc.dateDecember 2002
dc.date.accessioned2012-03-14T17:39:54Z
dc.date.available2012-03-14T17:39:54Z
dc.date.issued2002-12
dc.identifier.urihttp://hdl.handle.net/10945/3959
dc.descriptionApproved for public release, distribution is unlimiteden_US
dc.description.abstractFuture Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will be required to map and avoid obstacles such as sunken ships. This thesis examines obstacle avoidance behaviors using a forward-looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop steering equations that model REMUS through a track of specified points similar to a real-world mission track. Control of REMUS is accomplished using line of sight and state feedback controllers. A two-dimensional forward-looking sonar model with a 120Ê» horizontal scan and a 110 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAB simulations. The product of bearing and range weighting functions form the gain factor for a dynamic obstacle avoidance behavior. The overall vehicle heading error incorporates this obstacle avoidance term to develop a path around detected objects. REMUS is a highly responsive vehicle in the model and is capable of avoiding multiple objects in proximity along its track path.en_US
dc.description.urihttp://archive.org/details/obstaclevoidance109453959
dc.format.extentxiv, 63 p. : col. ill.en_US
dc.publisherMonterey, Calif. Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, may not be copyrighted.en_US
dc.subject.lcshSubmersiblesen_US
dc.subject.lcshRemote submersiblesen_US
dc.titleObstacle avoidance control for the REMUS autonomous underwater vehicleen_US
dc.typeThesisen_US
dc.contributor.departmentMechanical Engineering
dc.subject.authorObstacle avoidanceen_US
dc.subject.authorREMUSen_US
dc.subject.authorUnderwater vehicleen_US
dc.subject.authorAUVen_US
dc.description.serviceLieutenant, United States Navyen_US
etd.thesisdegree.nameM.S. in Mechanical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
etd.verifiednoen_US


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