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robust AUV docking guidance and navigation approach to handling unknown current disturbances

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Date Issued:
2010
Summary:
The main contribution in this thesis is the design of a robust AUV docking guidance and navigation approach that can guide and home an AUV towards an acoustic source located on an oriented bottom-mounted underwater docking station, under presence of unknown current disturbances and in the absence of any form of onboard velocity sensor. A Complementary Filter and various forms of Kalman Filters were separately formulated to estimate the current and vehicle positions with strategic vehicle manoeuvres. A current compensator uses the estimated current to maintain the desired vehicle course while under current disturbance. Tagaki-Sugeno-Kang Fuzzy Inference System was designed to realize fuzzy docking guidance manoeuvres. Finally, Monte Carlo runs were performed on a designed AUV docking simulator to evaluate the docking robustness against various docking conditions. Simulation results demonstrated robustness in the designed docking guidance and navigation approach.
Title: A robust AUV docking guidance and navigation approach to handling unknown current disturbances.
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Name(s): Teo, Hoe Eng.
College of Engineering and Computer Science
Department of Ocean and Mechanical Engineering
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 2010
Publisher: Florida Atlantic University
Physical Form: electronic
Extent: xvi, 241p. : ill. (some col.)
Language(s): English
Summary: The main contribution in this thesis is the design of a robust AUV docking guidance and navigation approach that can guide and home an AUV towards an acoustic source located on an oriented bottom-mounted underwater docking station, under presence of unknown current disturbances and in the absence of any form of onboard velocity sensor. A Complementary Filter and various forms of Kalman Filters were separately formulated to estimate the current and vehicle positions with strategic vehicle manoeuvres. A current compensator uses the estimated current to maintain the desired vehicle course while under current disturbance. Tagaki-Sugeno-Kang Fuzzy Inference System was designed to realize fuzzy docking guidance manoeuvres. Finally, Monte Carlo runs were performed on a designed AUV docking simulator to evaluate the docking robustness against various docking conditions. Simulation results demonstrated robustness in the designed docking guidance and navigation approach.
Identifier: 649816058 (oclc), 2683137 (digitool), FADT2683137 (IID), fau:3495 (fedora)
Note(s): by Hoe Eng Teo.
Thesis (M.S.C.S.)--Florida Atlantic University, 2010.
Includes bibliography.
Electronic reproduction. Boca Raton, Fla., 2010. Mode of access: World Wide Web.
Subject(s): Oceanographic submersibles -- Computer simulation
Underwater navigation
Fuzzy systems
Automatic control -- Mathematical models
Held by: FBoU FAUER
Persistent Link to This Record: http://purl.flvc.org/FAU/2683137
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU