Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will be required to map and avoid obstacles such as sunken ships. This thesis examines obstacle avoidance behaviors using a forward- looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop steering equations that model REMUS through a track of specified points similar to a real-world mission track. Control of REMUS is accomplished using line of sight and state feedback controllers. A two- dimensional forward-looking sonar model with a 1200 horizontal scan and a 110 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAE simulations. The product of bearing and range weighting functions form the gain factor for a dynamic obstacle avoidance behavior. The overall vehicle heading error incorporates this obstacle avoidance term to develop a path around detected objects. REMUS is a highly responsive vehicle in the model and is capable of avoiding multiple objects in proximity along its track path.
Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle
2002
79 pages
Report
Keine Angabe
Englisch
Acoustic Detection , Underwater vehicles , Avoidance , Sonar , Acoustic detectors , Line of sight , Steering , Forward areas , Control systems , Models , Dynamic response , Paths , Tracking , Theses , Feedback , Missions , Barriers , Self operation , Naval operations , Hydrodynamics , Forward looking , Sunken ships , Remus underwater vehicle
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