Distance keeping for underwater vehicles - tuning Kalman filters using self-oscillations

The article considers the problem of autonomous control of the underwater remotely operated vehicle mini Remotely Operated Vehicle (ROV) in a collision situation with a stationary obstacle. The control of the collision avoidance process is presented as a synthesis of fuzzy proportional-differential controllers for the control of distance and orientation concerning the detected stationary obstacle. The control of the submergence depth of the underwater vehicle has been adopted as a separate control flow. A method to obtain the main motion parameters of the underwater vehicle relative to the detected stationary obstacle using a Laser-based Vision System (LVS) and a pressure sensor coupled to an Inertial Measurement Unit (IMU) is described and discussed. The result of computer implementation of the designed fuzzy controllers for collision avoidance is demonstrated in simulation tests and experiments carried out with the mini ROV in the test pool.

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“…The data provided by the LVS system is determined using a triangulation technique based on the following relationships (6-10) [6], [16]:…”

Section: Fig 3 Measuring Position X and Orientation ψ Relative To A S...mentioning

confidence: 99%

Autonomous Control of the Underwater Remotely Operated Vehicle in Collision Situation with Stationary Obstacle

Śmierzchalski

Kapczyński

2022

Polish Maritime Research

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“…The AUVs group control tasks analysis at the specified stages of the maritime mission implementation indicates that one of the key tasks is ensuring the safe (trouble-free) motion of the individual AUVs in the group at a given depth of H MAS , at a given course φ MAS and at a given speed v MAS . The theoretical basis for the automation of such motion А MUC is the notion of alignment А GU , adhesion А GA and cohesion А GC [20].…”

Section: Synthesis Of Acs Of Individual Auv Spatial Motion As a Grmentioning

confidence: 99%

Control Automation of Maritime Unmanned Complex With a Group of Autonomous Underwater Vehicles

Blintsov

Aloba

2019

EUREKA: Physics and Engineering

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It is expedient to perform underwater search operations on large water areas using a group of autonomous self-propelled underwater vehicles. However, with a large distance to the search areas, the sea transition (from one point to the other) of the underwater vehicles requires high energy costs. This leads to the necessity to use heavy-duty underwater vehicles, which determines the high cost of the search operation. The transport of underwater vehicles is proposed to be carried out with an unmanned surface vessel, equipped with actuators for the automatic release of a group of vehicles under water and receiving on board after the end of the underwater mission. The maritime unmanned complex consisting of an unmanned surface vessel and a group of autonomous underwater vehicles on its board forms a new type of marine robotics, the complete automation of which is an actual scientific and technical task. For its implementation, the underlying (basic) automation technology of the marine search underwater mission has been developed as the theoretical basis for the development of the generalized structure of the complex automatic control system. Ten implementation stages of the underlying technology are formulated and the analysis of their automation features with the use of modern methods in the field of marine robotics is performed. Automation of the underlying technology stages involves the transfer of the vessel to a given water area, the automatic release (launch) of the group of underwater vehicles and their coordinated motion to the search area, the search operations and the return to the unmanned surface vessel, as well as the recovery of the vessel to the base. The generalized requirements for automatic control systems constituting the maritime unmanned complex at each stage of its functioning are provided. The spiral trajectory of waiting for the motion of the underwater vehicles at the group formation stages, for the search operation execution and after its completion, is proposed. For the spatial motion of the autonomous underwater vehicle as an agent of the group, the automatic control system was improved by introducing the blocks of the "Navigation Situation Model" and the "Navigation Threat Identifier, which make it impossible for emergency collision with the neighboring underwater vehicles of the group and disintegrate the group due to the data communication loss between them.

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Kalman Filter for Robot Vision: A Survey

Chen

2012

IEEE Trans. Ind. Electron.

476

202

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Distance keeping for underwater vehicles - tuning Kalman filters using self-oscillations

Cited by 3 publications

References 12 publications

Autonomous Control of the Underwater Remotely Operated Vehicle in Collision Situation with Stationary Obstacle

Autonomous Control of the Underwater Remotely Operated Vehicle in Collision Situation with Stationary Obstacle

Control Automation of Maritime Unmanned Complex With a Group of Autonomous Underwater Vehicles

Kalman Filter for Robot Vision: A Survey

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