underwater robotic vehicle


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Dynamics model of an underwater robotic vehicle
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This report takes an in-depth look at the physical laws governing the behavior of an underwater robotic vehicle . A complete 3D kinematics and dynamics matrix-based model is also presented. This model uses the dynamics equations which describe the movement of a

Autonomous guidance and control for an underwater robotic vehicle
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Underwater robots require adequate guidance and control to perform useful tasks. Visual information is important to these tasks and visual servo control is one method by which guidance can be obtained. To coordinate and control thrusters, complex models and control

Using visual sensing for control of an underwater robotic vehicle
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This paper documents research exploring the issues in using visual sensing to control an underwater robot. The local nature of visual sensing makes it useful for underwater situations in which the exact global location of the robot is not accurately known. In these

Adaptive track-keeping control of underwater robotic vehicle
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The paper describes a method of control of the underwater robotic vehicle to the problem of tracking of a reference trajectory. A multidimensional non-linear model expresses the robots dynamics. Command signals are generated by an autopilot consisting of four independent

Underwater robotic vehicle for ship hull inspection: control system architecture
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The inspection of underwater structure thickness has emerged as an unique and challenging application of robotics. Underwater robots with adherence system are required to precisely determine the position of cracks in these structures. This technological problem

Nonlinear optimal control of an underwater robotic vehicle ,
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The application of a new nonlinear optimal control strategy to the station-keeping control of an underwater robotic vehicle is considered. The control approach described and demonstrated here is based upon the numerical approximation of solutions to the Hamilton

Fuzzy control of motion of underwater robotic vehicle
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The paper addresses nonlinear control of an underwater robot. A way-point line of sight scheme is incorporated to following a desired path. Command signals are generated by an autopilot consisting of three fuzzy controllers. A methods of thrust distribution among

Model reference adaptive control of underwater robotic vehicle in plane motion
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A paper describes a method of motion control of the underwater robotic vehicle to the problem of trajectory tracking. A multidimensional non-linear model expresses the robots dynamics. Command signals are generated by an autopilot consisting of three independent

Design and implementation of a multiprocessor system for position and attitude control of an underwater robotic vehicle
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ABSTRACT The Multimode Proximity Operations Device (MPOD) is a neutral buoyancy simulation telerobot with the capability to fly in three dimensions and dock with an underwater satellite mockup. The vehicle may be flown from onboard, underwater remote, or

Application of the Maggi equations to mathematical modeling of a robotic underwater vehicle as an object with superimposed non-holonomic constraints treated as
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Article Preview Article Preview Article Preview Based on torpedoes, a universal mathematical model of a robotic underwater vehicle comprising coupling dynamics of a controlled object with superimposed guidance has been built. Using control laws as

Surge-yaw control of a hybrid underwater robotic vehicle
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An underwater robotic vehicle is being developed at the UFABC (Universidade Federal do ABC) which has as main mission the inspection of ship hull thickness using ultrasonic transducers. This is a hybrid ROV (Remotely Operated Vehicle ) due to its extreme

Optimal Constrained Control Allocation for Underwater Robotic Vehicle -Comparison of Algorithms
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The paper describes methods of thrusts allocation in a propulsion system of an underwater robotic vehicle . The methods are directed towards minimization of energy expenditures necessary to obtain required control. A power/thrust relation is mapped by quadratic and

Analysis And Linear Control Of A Low-Speed Maneuvering Underwater Robotic Vehicle
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This paper considers and analysis and LQG/LTR controller design for a low-speed maneuvering Remotely Operated Vehicle (RRC ROV II) designed by Robotic Research Center (RRC), in Nanyang Technological University (NTU). The controller is tasked to keep

SLIDING MODE CONTROL OF AN UNDERWATER ROBOTIC VEHICLE INCLUDING ADAPTIVE FUZZY DEAD-ZONE COMPENSATION
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Due to the great technological improvement obtained in the last decades, it became possible to use robotic vehicles for underwater exploration. During the execution of a certain task with the robotic vehicle , the operator needs to monitor and control a number of

E cient Dynamic Simulation of an Underwater Vehicle with a Robotic Manipulator y
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In this paper, an e cient dynamic simulation algorithm is developed for an underwater robotic vehicle (URV) with a manipulator. It is based on previous work on e cient O (N) algorithms, where N is the number of links in the manipulator, and has been extended to include the e



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