The potential uses for autonomous underwater vehicles (AUV's) is gaining recognition by organizations world wide. As such, continuous research toward improving existing vehicles by seeking new designs and increasing efficiency is being funded by organizations that serve to benefit from the new technology. Some examples for which AUV's may be used include mine countermeasures, submerged structural repair or destruction, search and rescue, biological study, ocean floor and coastal survey. The goal of this thesis is to design an autopilot that will use a combination of both vertical thrusters, both horizontal thrusters, and the main screws simultaneously to control the NPS Phoenix AUV's posture during hovering conditions and short transits. The control design is implemented and simulated using Common LISP object oriented programming language. The results of this thesis are favorable. Since this thesis presents only a basic approach to an autopilot design, it is believed by the author that with further improvements to the design presented, the existing hover made autopilot can eventually be upgraded with the resulting autopilot design. This upgrade would greatly increase the autopilots efficiency. (AN).


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Homing and Docking Autopilot Design for Autonomous Underwater Vehicle

    Pshikhopov, V.K. ;Medvedev, M.Yu. ;Gurenko, B.V. | Trans Tech Publications | 2014


    Autonomous Underwater Vehicle Hover Apparatus, Method, and Applications

    JEWELL STEPHEN W | Europäisches Patentamt | 2016

    Freier Zugriff

    Autonomous underwater vehicle hover apparatus, method, and applications

    JEWELL STEPHEN W | Europäisches Patentamt | 2018

    Freier Zugriff