Essays about: "Autonomous Underwater Vehicle"

Showing result 1 - 5 of 14 essays containing the words Autonomous Underwater Vehicle.

  1. 1. Optimal Control Model for an Autonomous Underwater Vehicle

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Gustav Holm; [2020]
    Keywords : ;

    Abstract : The main goal with this thesis was to develop an optimal control model for anautonomous underwater vehicle (AUV) and evaluate whether reference trackingusing Model Predictive Control (MPC) based on a linear dynamics modeldescribing all six degrees of freedom (DOF) is a suitable method for waypointnavigation. MPC is an advanced receding horizon optimal control method capableof including constraints in the optimization. READ MORE

  2. 2. Automatic Tuning of Motion Control System for an Autonomous Underwater Vehicle

    University essay from Linköpings universitet/Reglerteknik

    Author : Markus Andersson; [2019]
    Keywords : Automatic Control; Automatic Tuning; Control; Motion Control; Modelling; System Identification; Online Identification; Underwater Vehicle; Autonomous Underwater Vehicle; AUV; SMaRC; Maribot LoLo; Differential drive;

    Abstract : The interest for marine research and exploration has increased rapidly during the past decades and autonomous underwater vehicles (AUV) have been found useful in an increased amount of applications. The demand for versatile platform AUVs, able to perform a wide range of tasks, has become apparent. READ MORE

  3. 3. Finding the most suitable auxiliary sonar for terrain-aided navigation and behavior-fusion based obstacle avoidance for an autonomous underwater vehicle

    University essay from KTH/Skolan för industriell teknik och management (ITM)

    Author : NILAS OSTERMAN; [2019]
    Keywords : ;

    Abstract : Autonomous underwater vehicles are rapidly becoming more common and developed for both military as well as civilian applications such as; mine countermeasures or in the field of geoscience. One of the main issues these vehicles are facing today is the navigation capability. READ MORE

  4. 4. Machine Learning for Inferring Depth from Side-scan Sonar Images

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Yiping Xie; [2019]
    Keywords : ;

    Abstract : Underwater navigation using Autonomous Underwater Vehicles (AUVs), which is significant for marine science research, highly depends on the acoustic method, sonar. Typically, AUVsare equipped with side-scan sonars and multibeam sonars at the same time since they both have their advantages and limitations. READ MORE

  5. 5. Underwater Change Detection by Fusing Multiple Sonar Images

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Daniel Eriksson; [2019]
    Keywords : ;

    Abstract : Underwater change detection can be used for monitoring the seafloor and automatically alert when something changes on it. This could be especially useful in harbors or other critical sea-infrastructure. READ MORE