Autonomous Underwater Vehicle control
Visualitza/Obre
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2099/1799
Tipus de documentArticle
Data publicació2005-10-01
EditorSARTI (Technological Development Centre of Remote Acquisition and Data processing Systems. Technical University of Catalonia (UPC).
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
:
Reconeixement-NoComercial-SenseObraDerivada 2.5 Espanya
Abstract
In this paper the system control design stages for an autonomous underwater vehicle are presented. The vehicle must be able to sail on sea surface, following a path without losing its route and once a position is reached, a dive following a perpendicular path to the surface is carried out. A two level system control are proposed. The primary level will control the navigation of the vehicle where a linear controllers are proposed. Whereas in secondary level guidance system, collision system, start, stop and abort mission events will be ordered by neuro-fuzzy control.
The implementation of these algorithms will be supported by a Motorola Coldfire family
microcontroller (MCF5272).
ISSN1886-4864
Col·leccions
Fitxers | Descripció | Mida | Format | Visualitza |
---|---|---|---|---|
Autonomous Underwater Vehicle control.pdf | 4,225Mb | Visualitza/Obre |