Navigation and Control of Autonomous Marine Vehicles

Cover......Page 1
Contents......Page 6
Preface......Page 12
1.1 Introduction......Page 16
1.1.1 USV prototypes and core systems......Page 17
1.1.1.2 USVs for military applications......Page 19
1.1.2 The control strategies of USV......Page 20
1.2 Mathematical modelling of autonomous marine vehicles......Page 22
1.2.1 Kinematic motion of marine vehicle......Page 23
1.2.2 Dynamic motion of marine vehicle......Page 25
1.3 Intelligent path planning and control of autonomous marine vehicles......Page 27
1.3.1.1 Collision risk assessment based upon the CPA......Page 28
1.3.1.2 Collision risk assessment based upon ship domain......Page 29
1.3.2.1 The FMM......Page 32
1.3.2.2 The FMM-based path planning algorithms......Page 33
1.3.3 Autonomous and intelligent navigation of a USV......Page 38
References......Page 43
2.1 Introduction......Page 46
2.1.1 Review of heuristic approaches in path planning of USVs......Page 50
2.1.2 A* approach......Page 52
2.2.1 Environmental mapping......Page 53
2.2.2 Assumptions......Page 54
2.2.3 Challenges of incorporating COLREGs in path-planning algorithms......Page 55
2.2.4 Incorporating guidance and control system with path-planning algorithm......Page 56
2.2.5 Collision avoidance in close encounter situation......Page 57
2.3.1 Comparing A* approach with and without safety distance......Page 58
2.3.2 Constrained A* approach under static and partially dynamic environment......Page 60
2.3.3 Constrained A* approach with environmental disturbances......Page 64
2.3.4 Constrained A* approach with single moving obstacle and environmental disturbance......Page 67
2.4 Conclusions......Page 69
References......Page 72
3.1 Introduction......Page 76
3.1.1 Motivation and background......Page 77
3.2 COLREGs......Page 80
3.3 APFs......Page 83
3.4 Collision risk assessment......Page 86
3.5 COLREGs decision maker......Page 87
3.6 COLREGs zones for APF adaptation......Page 90
3.7 Simulation results......Page 91
3.7.1 Path dynamics......Page 93
References......Page 97
4.1 Introduction......Page 100
4.2 Problem statement......Page 102
4.3 Design of impact angle guidance......Page 103
4.4.2 Linear interpolation......Page 106
4.4.3 Improved sample and hold......Page 107
4.5 Simulation results......Page 108
4.5.1 Implementation of guidance law with closed-loop feedback......Page 109
4.5.2 Implementation of guidance law in open loop......Page 111
References......Page 122
5.1 Introduction......Page 126
5.2 Background......Page 127
5.4 Terrain following with Delphin2......Page 128
5.4.1 Terrain detection......Page 129
5.4.2 Horizon tracking......Page 131
5.4.3 Altitude controller......Page 135
5.5 Testwood lake experiment set-up......Page 136
5.5.2 Performance analysis......Page 138
5.6.1 Repeatability and obstacle detection......Page 140
5.6.2 Actuation strategy......Page 143
References......Page 146
6.1 Introduction......Page 150
6.2 Preliminaries......Page 152
6.3 Modeling of AUV......Page 154
6.3.1 AUV modeling: diving plane......Page 156
6.3.2 AUV modeling: steering plane......Page 157
6.3.3 Path kinematics: Serret–Frenet frame......Page 159
6.4.1 Nonlinear state feedback H∞ controller......Page 160
6.5.1 Diving control......Page 163
6.5.2 Steering control......Page 166
6.6.1 Guidance law for path following......Page 171
6.6.2 Simulation results......Page 172
6.7 Concluding remarks......Page 174
References......Page 175
7.1 Introduction......Page 178
7.2.1 Motion equations......Page 180
7.2.2 Ocean currents......Page 181
7.3.1 Problem statement......Page 182
7.3.2 Legendre pseudospectral method......Page 183
7.3.3 Discretization of the optimization problem......Page 184
7.4 Optimization using particle swarm optimization......Page 185
7.5.1 Problem statement of re-planning......Page 186
7.5.2 Problem reformulation in differentially flat outputs space......Page 189
7.6 Simulation results......Page 190
7.6.1 Simulation results without disturbance......Page 191
7.6.2 Simulation results with time vary disturbance......Page 195
Acknowledgments......Page 199
References......Page 200
8.1 Introduction......Page 202
8.1.2 Notation......Page 204
8.2 Cooperative path-following control system architecture......Page 206
8.3.1 Path-following problem......Page 208
8.3.2 Coordination control problem......Page 210
8.3.3 Cooperative path-following......Page 211
8.3.4 Logic-based communication system......Page 213
8.4.1 Vehicle model......Page 215
8.4.2 Path-following controller......Page 217
8.4.3 Coordination controller......Page 218
8.4.4 Logic-based communication system......Page 219
8.4.4.1 Ideal communication links......Page 220
8.4.4.3 Communication losses......Page 221
8.4.5 Stability of the overall-closed loop system......Page 223
8.5.1 Test set-up......Page 224
8.5.2.1 Test with ε = 0.2......Page 226
8.5.2.3 Test with ε = 1.4......Page 228
Appendix A......Page 231
References......Page 237
9.1 Introduction......Page 240
9.2.2.2 Reference types......Page 242
9.3.1 Centralized approach......Page 245
9.3.2 Decentralized approach......Page 246
9.3.3.1 Advantages......Page 247
9.3.3.2 Disadvantages......Page 248
9.4.1 Formation control using behavioral approach......Page 249
9.4.2 Formation control using leader-follower approach......Page 250
9.4.2.2 Distance and bearing angle method......Page 251
9.4.2.4 Line of sight (LOS) and vision-based method......Page 252
9.4.2.7 Advantages......Page 253
9.4.3 Formation control using virtual structure approach......Page 254
9.4.4 Formation control using artificial potentials approach......Page 255
9.4.6 Repulsive potential functions......Page 256
9.4.7 Formation control using graph-theory approach......Page 257
9.4.8 Other control strategies......Page 258
9.4.8.4 Other methods......Page 259
9.5 Communication issues in formation of multiple vehicles......Page 260
9.6.2 Formation shape generation......Page 262
9.6.3 Switching between shapes according to situation......Page 264
References......Page 265
Abstract......Page 278
10.1 Introduction......Page 279
10.2 The S2C modem of Evologics as a platform for specialized user applications......Page 282
10.3 Architecture of the software framework EviNS......Page 283
10.4 Case studies......Page 284
10.4.1.1 The tasks......Page 285
10.4.1.2 UWA modems used......Page 286
10.4.1.3 The solution – data exchange in an ad-hoc network......Page 287
10.4.1.4 Organization of data exchange in the network......Page 288
10.4.1.6 Experiment description......Page 289
10.4.1.7 Experiment description......Page 291
10.4.1.8 Case study conclusion......Page 296
10.4.2.1 Operation conditions......Page 298
10.4.2.2 Experimental conditions......Page 299
10.4.2.3 Results......Page 300
10.4.2.4 Case study conclusion......Page 304
10.4.3.1 The task......Page 305
10.4.3.2 UWA modem with integrated atomic clock......Page 306
10.4.3.3 Experimental results of AUV positioning using UWA modems with integrated atomic clocks......Page 308
References......Page 312
11.1 Introduction......Page 316
11.2 Defence applications......Page 317
11.2.1 Mine counter measures (MCM)......Page 318
11.2.6 Rapid environmental assessment (REA)......Page 319
11.3 Scientific applications overview......Page 320
11.3.1 Examples of scientific applications......Page 321
11.4 Technology overview......Page 322
11.5 ASV types......Page 326
11.5.1 Small systems......Page 327
11.5.2 Medium systems......Page 329
11.5.3 Large systems......Page 330
11.6 Industrial applications......Page 332
11.6.1.4 Current monitoring......Page 333
11.6.1.7 AUV tracking and communication......Page 334
11.6.1.11 Passive acoustic monitoring (seismic, construction, decommissioning)......Page 335
11.6.2 In development......Page 336
11.7 Conclusion......Page 337
Index......Page 340
Back Cover......Page 349