Design and implementation of time efficient trajectories for autonomous underwater vehicles

Chyba, Monique; Haberkorn, Thomas; Smith, Ryan N.; Choi, Sang Jun

doi:10.1016/j.oceaneng.2007.07.007

Cited by 54 publications

(48 citation statements)

References 8 publications

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“…In the numerically computed strategies, the full dynamic model is integrated and thus potential forces are fully accounted for. In both cases, theoretical predictions compared excellently with experimental results, see Chyba et al (2008b) and Chyba et al (2007) for examples. Thus, comparing our geometrically constructed control strategies with those which we have already tested and validated in previous research, will provide information on the accuracy and validity of the underlying theory.…”

Section: Introductionmentioning

confidence: 55%

A First Extension of Geometric Control Theory to Underwater Vehicles

Chyba¹,

Smith

2008

IFAC Proceedings Volumes

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This paper serves as a first study on the implementation of control strategies developed using a kinematic reduction onto test bed autonomous underwater vehicles (AUVs). The equations of motion are presented in the framework of differential geometry, including external dissipative forces, as a forced affine connection control system. We show that the hydrodynamic drag forces can be included in the affine connection, resulting in an affine connection control system. The definitions of kinematic reduction and decoupling vector field are thus extended from the ideal fluid scenario. Control strategies are computed using this new extension and are reformulated for implementation onto a test-bed AUV. We compare these geometrically computed controls to time and energy optimal controls for the same trajectory which are computed using a previously developed algorithm. Through this comparison we are able to validate our theoretical results based on the experiments conducted using the time and energy efficient strategies.

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Section: Introductionmentioning

confidence: 55%

A First Extension of Geometric Control Theory to Underwater Vehicles

Chyba¹,

Smith

2008

IFAC Proceedings Volumes

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“…3. Complete details and technical specifications for this vehicle can be found in [20] or [21], with specifics related to implementation of geometric control strategies contained in [11].…”

Section: A Test-bed Platform: Odinmentioning

confidence: 99%

“…To calculate the six-dimensional thrust σ resulting from the eight-dimensional thrust ζ (from the thrusters), or vice-versa, we apply a linear transformation to ζ. We omit the details of this transformation here, but refer the interested reader to [20]. Along with the tests to determine the values in Table I, we also tested the thrusters.…”

Section: A Test-bed Platform: Odinmentioning

confidence: 99%

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A Geometric Approach to Trajectory Design for an Autonomous Underwater Vehicle: Surveying the Bulbous Bow of a Ship

et al. 2011

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In this paper, we present a control strategy design technique for an autonomous underwater vehicle based on solutions to the motion planning problem derived from differential geometric methods. The motion planning problem is motivated by the practical application of surveying the hull of a ship for implications of harbor and port security. In recent years, engineers and researchers have been collaborating on automating ship hull inspections by employing autonomous vehicles. Despite the progresses made, human intervention is still necessary at this stage. To increase the functionality of these autonomous systems, we focus on developing model-based control strategies for the survey missions around challenging regions, such as the bulbous bow region of a ship. Recent advances in differential geometry have given rise to the field of geometric control theory. This has proven to be an effective framework for control strategy design for mechanical systems, and has recently been extended to applications for underwater vehicles. Advantages of geometric control theory include the exploitation of symmetries and nonlinearities inherent to the system.

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“…Water-tight junction boxes (WJB) are used to protect the connections between sensors and working components from water and ensure the reliability of underwater vehicles (Chyba, Haberkorn, Smith and Choi, 2008;Bagheri, Karimi and Amanifard, 2010). As the water depth increases, WJBs suffer from increasing external water pressure.…”

Section: Introductionmentioning

confidence: 99%

Study on the pressure self-adaptive water-tight junction box in underwater vehicle

Huang¹,

Ye²,

Leng³

et al. 2012

International Journal of Naval Architecture and Ocean Engineeri

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Underwater vehicles play a very important role in underwater engineering. Water-tight junction box (WJB) is one of the key components in underwater vehicle. This paper puts forward a pressure self-adaptive water-tight junction box (PSAWJB) which improves the reliability of the WJB significantly by solving the sealing and pressure problems in conventional WJB design. By redundancy design method, the pressure self-adaptive equalizer (PSAE) is designed in such a way that it consists of a piston pressure-adaptive compensator (PPAC) and a titanium film pressureadaptive compensator (TFPAC). According to hydro-mechanical simulations, the operating volume of the PSAE is morethan or equal to 11.6 % of the volume of WJB liquid system. Furthermore, the required operating volume of the PSAE also increases as the gas content of oil, hydrostatic pressure or temperature difference increases. The reliability of the PSAWJB is proved by hyperbaric chamber tests.

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Design and implementation of time efficient trajectories for autonomous underwater vehicles

Cited by 54 publications

References 8 publications

A First Extension of Geometric Control Theory to Underwater Vehicles

A First Extension of Geometric Control Theory to Underwater Vehicles

A Geometric Approach to Trajectory Design for an Autonomous Underwater Vehicle: Surveying the Bulbous Bow of a Ship

Study on the pressure self-adaptive water-tight junction box in underwater vehicle

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