Acoustic Motion Estimation and Control for Autonomous Underwater Vehicles

Abstract

An integrated model of acoustic motion estimation and control is presented. The control system is designed on the basis of the definitions of suitable Lyapunov functions for the different maneuvers in approaching a target. These functions allow the navigation and maneuvering tasks to be performed in a two-layered hierarchical architecture for closed-loop control. The motion estimation algorithm uses pencil beam profiling sonar range and bearing information. The operating environment is modeled with a suitable three-dimensional potential function and its gradient which forms an attractive field. This algorithm provides satisfactory performance for autonomous navigation and obstacle avoidance. The applicability and robustness of this model are demonstrated with both actual test data obtained with the NPS Phoenix submersible and computer generated simulation data. The results show the effectiveness of the combined estimation and control model.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1997
Accession Number
ADA331728

Entities

People

  • Hakki Celebioglu

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Navigation
  • Autonomous Underwater Vehicles
  • C Programming Language
  • Collision Avoidance
  • Control Systems
  • Equations
  • Guidance
  • Hyperbolic Navigation
  • Inertial Navigation
  • Inertial Navigation Systems
  • Lyapunov Functions
  • Navigation
  • Simulations
  • Sonar Ranging
  • Underwater Vehicles
  • Unmanned Vehicles

Readers

  • Robotics and Automation.
  • Statistical inference.
  • Wave Propagation and Nonlinear Chaotic Dynamics.