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dc.contributor.advisorBrutzman, Don
dc.contributor.advisorHealey, Anthony
dc.contributor.advisorHorner, Douglas P.
dc.contributor.authorKucik, Daniel P.
dc.date.accessioned2012-03-14T17:48:26Z
dc.date.available2012-03-14T17:48:26Z
dc.date.issued2003-09
dc.identifier.urihttp://hdl.handle.net/10945/6301
dc.descriptionApproved for public release; distribution in unlimited.en_US
dc.description.abstractWith advances in computer and sensor technologies, autonomous underwater vehicles (AUVs) are now capable of reaching a level of independent action once thought impossible. Through the use of cooperative behaviors it is possible to further increase their autonomy by allowing multiple operating AUVs to simultaneously coordinate their activities in order to improve the efficiency and effectiveness of the overall system. This thesis research defines the algorithms and rules needed to perform "follow the leader" cooperative behaviors during AUV rendezvous. This is a low-level first step towards more sophisticated cooperative behaviors, such as swarming or new forms of obstacle/trap avoidance. The approach taken here differs from previous research in that it does not rely on beacons or locator sensors, but instead uses ranging and intention information shared between the vehicles using acoustic communications. Several tools and algorithms are presented to support the future development of cooperative behaviors. In particular, a previously developed 3D virtual world simulator that utilizes dynamics-based vehicle models has been enhanced to support multiple simultaneously operating vehicles. Finally, a procedural algorithm is shown to correct the relative navigation errors between two vehicles through the use of vehicle-to-vehicle communications and ranging information obtained via acoustic modems.en_US
dc.description.urihttp://archive.org/details/followleadertrac109456301
dc.format.extentxxii, 184 p. : ill. (some col.) ;en_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsCopyright is reserved by the copyright owner.en_US
dc.subject.lcshRemote submersiblesen_US
dc.subject.lcshUnderwater acousticsen_US
dc.title"Follow the leader" tracking by autonomous underwater vehicles (AUVs) using acoustic communications and rangingen_US
dc.typeThesisen_US
dc.contributor.departmentUndersea Warfare Academic Committee
dc.subject.authorAutonomous Underwater Vehicle (AUV)en_US
dc.subject.authorCooperative Behaviorsen_US
dc.subject.authorAcoustic Communicationsen_US
dc.subject.authorFollow the Leaderen_US
dc.subject.authorRelative Navigation Error Correctionen_US
dc.description.serviceNaval Surface Warfare Center, Panama Cityen_US
etd.thesisdegree.nameM.S. in Applied Science (ROBOTICS)en_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineApplied Scienceen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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