N. Cruz 's Autonomous Underwater Vehicles PDF

By N. Cruz

ISBN-10: 9533074329

ISBN-13: 9789533074320

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A robust layered control system for a mobile robot. 2, pp. , Wan Ngah, W. A. , Mohamad, Z. (2011). Robot global path planning overview and a variation of ant colony system algorithm. 5, pp. 9-16, 2011 Castellanos, J. A. & Tardos, J. D. (1999). Mobile Robot Localization and Map Building: A Multisensor Fusion Approach. , Lynch, K. , Kavraki, L. , Thrun, S. (2005). Principles of Robot Motion. MIT Press, 2005 Do, K. , Jiang, J. , Pan, J. (2004). Robust adaptive path following of underactuated ships.

It makes an impact on maneuverability of the underwater vehicle in that the hinge moment must be overcome during steering. The bigger hinge moment will make the turning velocity of rudders become slowly and make the control action slow-witted. The hydrodynamic performance of three dimension rudders at different angles of attack was simulated by using CFD methods. The inlet velocity was set to be 2m/s. 2×103 Fig. 20. 2 0 0 4 8 12 16 20 24 angle of attack α (°) 28 32 36 40 Fig. 21.

4). Fig. 4. Hybrid control architecture for P-SURO AUV. 26 Autonomous Underwater Vehicles If there is a pattern appeared in a certain area in front of the vehicle, the vision module will recognize the pattern and transmit the corresponding vehicle's pose information freqeuntly to the control module for aiding of path planning. According to the received mission command (user command is usually delivered to the vehicle on the surface through RF channel), the control module arranges a series of tasks to accomplish the mission.

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Autonomous Underwater Vehicles by N. Cruz


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