Marine Robot Autonomy - download pdf or read online

By M. L. Seto, L. Paull, S. Saeedi (auth.), Mae L. Seto (eds.)

Autonomy for Marine Robots provides a well timed and insightful evaluate of clever autonomy in marine robots. a quick heritage of this rising box is supplied, besides a dialogue of the demanding situations specified to the underwater atmosphere and their impression at the point of clever autonomy required. issues coated at size learn complicated frameworks, path-planning, fault tolerance, laptop studying, and cooperation as proper to marine robots that desire clever autonomy.

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As an example to keep in mind, a UUV mission that requires accurate and precise navigation and positioning would be a large-area survey (or search) to acquire a map of the seabed and to revisit discovered targets. For such a mission the UUV has to navigate an unfamiliar area, create a map, and then be able to navigate back to previously discovered targets. Navigation accuracy is the precision with which the UUV guides itself from one geo-referenced point to another. Positional accuracy is the error of how well the UUV localizes itself within a geo-referenced map.

The standard deviation for navigational grade INSs is typically about 1 nautical mile per hour. This accuracy strongly depends on whether the INS uses fibre optic gyros, ring laser gyros, inclinometers, etc. A free unaided INS will, after a short period of time, have unacceptable position errors and require surfacing for a position fix. State estimation techniques, such as Kalman filters, are used to provide better navigation solutions for UUVs that use INS and allow them to stay submerged longer.

In: Proceedings of 2005 American control conference, p 6 27. Teck TY, Chitre M, Vadakkepat P (2010) Hierarchical agent-based command and control system for autonomous underwater vehicles. In: Proceedings of 2010 international conference autonomous and intelligent systems, p 6 28. Goldberg D (2011) Huxley: a flexible robot control architecture for autonomous underwater vehicles. In: Proceedings of IEEE oceans 2011-Spain Conference, p 10 29. Eickstedt DP, Sideleau SR (2010) The backseat control architecture for autonomous robotic vehicles: a case study with the IVER2 AUV.

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