Loitering Behaviors of Autonomous Underwater Vehicles

Abstract

In multi-vehicle mine hunting operations, it will be necessary at times for one vehicle to loiter at some point while gathering communications of data from other vehicles. The loitering behaviors of the ARIES Autonomous Underwater Vehicle have never been completely defined. The track that the vehicle chooses to maintain station while circling around one specific point for an extended period of time may be sometimes random and unpredictable, unless defined in terms of specific tracks. Simulations were run and analyzed for various conditions to record the tendencies of the vehicle during different current conditions and approach situations. The stability of the Heading Controller was then analyzed in order to predict the position where the Line of Sight Guidance algorithm becomes unstable. The data obtained through the simulations supports and explains the tendencies ARIES exhibits while circling around a loiter point.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Jun 01, 2002
Accession Number
ADA406082

Entities

People

  • Douglas L. Williams

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Materials and Manufacturing Processes
  • Sensors
  • Space

DTIC Thesaurus Topics

  • Artificial Satellites
  • Autonomous Underwater Vehicles
  • Collision Avoidance
  • Command And Control
  • Computer Programs
  • Computers
  • Control Systems
  • Dead Reckoning
  • Global Positioning Systems
  • Guidance
  • Inertial Navigation
  • Kalman Filters
  • Line Of Sight
  • Mechanical Engineering
  • Navigation
  • Simulations
  • Underwater Vehicles

Readers

  • Aerial Unmanned Vehicle Swarm Micro Periodontal Dentistry.
  • Control Systems Engineering.
  • Robotics and Automation.