Topological Navigation for Autonomous Underwater Vehicles in Confined Semi-Structured Environments

Rossi, Cláudio; Zapata, Adrian Caro; Milosevic, Zorana; Fernández, Ramón A. Suárez; Domínguez, Sergio

doi:10.3390/s23052371

Cited by 2 publications

(2 citation statements)

References 36 publications

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“…Therefore, technologies have been developed to introduce SLAM modules to facilitate the localization environment by assigning metric spacing. However, the problem encountered in the development of this method was the non-application of noise resonance, which could only be achieved up to a level of 25% [ 131 ].…”

Section: Research Challengesmentioning

confidence: 99%

Autonomous Robots for Services—State of the Art, Challenges, and Research Areas

Misaros

Stan

Donca

et al. 2023

Sensors

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It has been almost half a century since the first interest in autonomous robots was shown, and research is still continuing to improve their ability to make perfectly conscious decisions from a user safety point of view. These autonomous robots are now at a fairly advanced level, which means that their adoption rate in social environments is also increasing. This article reviews the current state of development of this technology and highlights the evolution of interest in it. We analyze and discuss specific areas of its use, for example, its functionality and current level of development. Finally, challenges related to the current level of research and new methods that are still being developed for the wider adoption of these autonomous robots are highlighted.

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Section: Research Challengesmentioning

confidence: 99%

Autonomous Robots for Services—State of the Art, Challenges, and Research Areas

Misaros

Stan

Donca

et al. 2023

Sensors

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“…The platform is monitored through the surface monitoring system. The performance in motion control is given the top priority [ 52 ].…”

Section: Dsrv Platformmentioning

confidence: 99%

Design and Verification of Deep Submergence Rescue Vehicle Motion Control System

Jiang,

Zhang,

Wan

et al. 2023

Sensors

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A six degree-of-freedom (DOF) motion control system for docking with a deep submergence rescue vehicle (DSRV) test platform was the focus of this study. The existing control methods can meet the general requirements of underwater operations, but the complex structures or multiple parameters of some methods have prevented them from widespread use. The majority of the existing methods assume the heeling effect to be negligible and ignore it, achieving motion control in only four or five DOFs. In view of the demanding requirements regarding positions and inclinations in six DOFs during the docking process, the software and hardware architectures of the DSRV platform were constructed, and then sparse filtering technology was introduced for data smoothing. Based on the adaptive control strategy and with a consideration of residual static loads, an improved S-plane control method was developed. By converting the force (moment) calculated by the controller to the body coordinate system, the complexity of thrust allocation was effectively reduced, and the challenge of thrust allocation in the case of a high inclination during dynamic positioning was solved accordingly. The automatic control of the trimming angle and heeling angle was realized with the linkage system of the ballast tank and pump valve. A PID method based on an intelligent integral was proposed, which not only dealt with the integral “saturation” problem, but also reduced the steady-state error and overshooting. Water pool experiments and sea trials were carried out in the presence of water currents for six-DOF motion control. The responsiveness and precision of the control system were verified by the pool experiment and sea trial results and could meet the control requirements in engineering practice. The reliability and operational stability of the proposed control system were also verified in a long-distance cruise.

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Topological Navigation for Autonomous Underwater Vehicles in Confined Semi-Structured Environments

Cited by 2 publications

References 36 publications

Autonomous Robots for Services—State of the Art, Challenges, and Research Areas

Autonomous Robots for Services—State of the Art, Challenges, and Research Areas

Design and Verification of Deep Submergence Rescue Vehicle Motion Control System

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