Acoustic motion estimation and control for an unmanned underwater vehicle in a structured environment
MetadataShow full item record
The problem of identification and navigation, guidance and control in unmanned underwater vehicles (UUVs) is addressed in this paper. A task-function-based guidance system and an acoustic motion estimation module have been integrated with a conventional UUV autopilot within a two-layered hierarchical architecture for closed-loop control. Basic techniques to estimate the robot dynamics using the sensors mounted on the vehicle have been investigated. The proposed identification techniques and navigation, guidance and control (NGC) system have been tested on Roby2, a UUV developed at the Istituto Automazione Navale of the Italian C.N.R. The experimental set-up, as well as the modalities and results, are discussed.
Showing items related by title, author, creator and subject.
Martinez, T.; Agrawal, B.N. (2008);This paper discusses two optical beam control testbeds developed at the Spacecraft Research and Design Center, Naval Postgraduate School, to evaluate and develop control techniques for jitter and adaptive optics control. ...
Song, G.; Kelly, B.; Agrawal, B.N. (1999);This paper presents the design and experiment results of active position control of a shape memory alloy (SMA) wires actuated composite beam. The composite beam is honeycomb structured with shape memory alloy wires embedded ...
Song, G.; Kelly, B.; Agrawal, B.N. (2000);This paper presents the design and the experimental result of the active position control of a shape memory alloy (SMA) wire actuated composite beam. The composite beam has a honeycomb structure with SMA wires embedded in ...