Guidance Algorithm for an Autonomous Underwater Vehicle Using One-Way-Travel-Time
Date Issued
2016
Date
2016
Author(s)
JEN, CHIEN-PO
Abstract
Tomography is a method of oceanography to analyze the current velocity and temperature by measuring the travel time of sound between fixed beacons arranged in an array. It is necessary to separate the acoustic modems over large regions and broadcast the sound periodically. In this work, we discuss the necessary technique to deploy a mobile modem by an AUV under the framework of Tomography. The AUV is a mobile modem that could not only increase the number of acoustic paths but also improve the accuracy of localization by the increased number of travel time measurements of distances between the AUV and fixed beacons. To achieve this aim, the AUV must move along trajectories on those the AUV is always observable by the localization algorithm. The beacon is broadcasting periodically, the AUV could only receive one acoustic beacon at a time. The localization technique based on a single-beacon one-way-travel-time is discussed. Simulations based on a set of sea trial data is used to analyze the constraint of observable positions of the single-beacon by using observability matrix. Trajectory tracking controller is then proposed for the AUV to track the trajectory by consideration the maximum outputs of propellers within admissible localization errors. At sea experiments results are shown to prove the feasibility of the tracking controller. Keywords: AUV、Underwater localization、Path Guidance System、Tomography
Subjects
AUV
Underwater localization
Path Guidance System
Tomography
Type
thesis
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