Design and Experiment of a Plateau Data-Gathering AUV

Xu, Hao; Zhang, Guocheng; Sun, Yougang; Pang, Shuo; Ran, Xiangrui; Wang, Xiang-Bin

doi:10.3390/jmse7100376

Cited by 16 publications

(11 citation statements)

References 30 publications

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“…Due to the simple structure, light in computation, and easy implementation of the LOS algorithm, the LOS is currently applied more in autonomous navigation of marine vehicles [ 36 , 37 ]. Moreover, the working principle of the LOS method is to mimic the behavior of a helmsman, which drives the AUV towards a target point.…”

Section: Design the Heading Angle Of The Over-actuated Auv Using Lmentioning

confidence: 99%

Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Thanh

et al. 2021

Sensors

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Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to maintain UVs stayed at the desired static position permanently under these conditions. Therefore, in this study, a nonlinear dynamics and robust positioning control of the over-actuated autonomous underwater vehicle (AUV) under the effects of ocean current and model uncertainties are presented. First, a motion equation of the over-actuated AUV under the effects of ocean current disturbances is established, and a trajectory generation of the over-actuated AUV heading angle is constructed based on the line of sight (LOS) algorithm. Second, a dynamic positioning (DP) control system based on motion control and an allocation control is proposed. For this, motion control of the over-actuated AUV based on the dynamic sliding mode control (DSMC) theory is adopted to improve the system robustness under the effects of the ocean current and model uncertainties. In addition, the stability of the system is proved based on Lyapunov criteria. Then, using the generalized forces generated from the motion control module, two different methods for optimal allocation control module: the least square (LS) method and quadratic programming (QP) method are developed to distribute a proper thrust to each thruster of the over-actuated AUV. Simulation studies are conducted to examine the effectiveness and robustness of the proposed DP controller. The results show that the proposed DP controller using the QP algorithm provides higher stability with smaller steady-state error and stronger robustness.

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Section: Design the Heading Angle Of The Over-actuated Auv Using Lmentioning

confidence: 99%

Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Thanh

et al. 2021

Sensors

View full text Add to dashboard Cite

show abstract

“…The target heading, target velocity, and target depth are calculated in the planning system, which sends them to the control system. The control system controls the AUV in navigating according to the target command [17]. In this study, the improved HDQN algorithm was proposed to realize global path planning.…”

Section: Path Planning Algorithmmentioning

confidence: 99%

AUV 3D Path Planning Based on the Improved Hierarchical Deep Q Network

Sun

Ran

Zhang

et al. 2020

JMSE

Self Cite

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This study proposed the 3D path planning of an autonomous underwater vehicle (AUV) by using the hierarchical deep Q network (HDQN) combined with the prioritized experience replay. The path planning task was divided into three layers, which realized the dimensionality reduction of state space and solved the problem of dimension disaster. An artificial potential field was used to design the positive rewards of the algorithm to shorten the training time. According to the different requirements of the task, this study modified the rewards in the training process to obtain different paths. The path planning simulation and field tests were carried out. The results of the tests corroborated that the training time of the proposed method was shorter than that of the traditional method. The path obtained by simulation training was proved to be safe and effective.

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“…From the large field of guidance, navigation, and control of underwater vehicles [4,31,[41][42][43][44][45], the 6-degree-offreedom (DoF) models in the body frame considered in this study use the following representation:…”

Section: Modeling the Auv Dynamics For Controlmentioning

confidence: 99%

A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach

Hien

Truong

Bui

2020

Journal of Advanced Transportation

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This paper introduces a model-driven control realization, which is based on the systems engineering concepts of the model-driven architecture (MDA)/model-based systems engineering (MBSE) approach combined with the real-time UML/SysML, extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid automata, in order to conveniently deploy controllers of autonomous underwater vehicles (AUVs). This model also creates a real-time communication pattern, which can permit the designed components to be customizable and reusable in new application developments of different AUV types. The paper brings out stepwise adapted AUV dynamics for control that are then combined with the specialization of MDA/MBSE features as follows: the computation independent model (CIM) is defined by the specification of the use-case model together with hybrid automata to gather the requirement analysis for control; the platform-independent model (PIM) is then designed by specializing the real-time UML/SysML’s features including main control capsules that depict structures and behaviors of controllers in detail; and the detailed PIM is subsequently converted into the platform-specific model (PSM) by object-oriented platforms to rapidly implement the AUV controller. Based on this proposed model, a horizontal planar trajectory-tracking controller was deployed and tested that permits a miniature AUV possessing a torpedo shape to reach and follow the desired horizontal planar trajectory.

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Design and Experiment of a Plateau Data-Gathering AUV

Cited by 16 publications

References 30 publications

Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

AUV 3D Path Planning Based on the Improved Hierarchical Deep Q Network

A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach

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