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Revistes i Congressos UPC >
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Instrumentation viewpoint >
2005, núm. 4 >
Quan citeu aquest document, utilitzeu la següent adreça:
http://hdl.handle.net/2099/1799
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| Títol: | Autonomous Underwater Vehicle control |
| Autor: | Vidal Morató, Jordi; Gomáriz Castro, Spartacus  ; Manuel Lázaro, Antonio |
| Editorial: | SARTI (Technological Development Centre of Remote Acquisition and Data processing Systems. Technical University of Catalonia (UPC). |
| Tipus de document: | Article |
| Resum: | 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). |
| ISSN: | 1886-4864 |
| URI: | http://hdl.handle.net/2099/1799 |
| Apareix a les col·leccions: | 2005, núm. 4
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