Trajectory Planning for the Aries AUV

Abstract

This thesis supports ongoing ONR research in the area of Autonomous Underwater Vehicles (AUVs) and Mine Warfare. It shows a simulation of a two-vehicle autonomous rendezvous using both along track and cross track position controllers. Conducting open water experiments with the ARIES AUV identified the added mass matrix and hydrodynamic coefficients of the longitudinal equation of motion. The results indicate that it will be possible to maneuver an AUV to a specific rendezvous point at a specified time. Two-vehicle rendezvous maneuvers are likely to be needed in multi-vehicle operations when data transfer between range-limited communications modems are used.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 2002
Accession Number
ADA405600

Entities

People

  • John J. Keegan

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Energy and Power Technologies
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • C Programming Language
  • Command And Control
  • Data Transmission
  • Engineering
  • Equations
  • Equations Of Motion
  • Fluid Mechanics
  • Guidance
  • Mechanical Engineering
  • Motion Planning
  • Naval Architecture
  • Simulations
  • Three Dimensional
  • Underwater Vehicles
  • Vehicles

Readers

  • Control Systems Engineering.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.