Essays about: "undervattensfarkost"

Showing result 1 - 5 of 6 essays containing the word undervattensfarkost.

  1. 1. Underwater Rao-Blackwellized Particle Filter SLAM using Stochastic Variational Gaussian Processes maps

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

    Author : Stine Olsson; [2021]
    Keywords : AUV; RBPF; SVGP; SLAM; MBES; AUV; RBPF; SVGP; SLAM; MBES;

    Abstract : In this thesis, we introduce a Rao-Blackwellized Particle Filter (RBPF) for the algorithm Simultaneously Localizing and Mapping (SLAM) to be used on an Autonomous Underwater Vehicle (AUV) with a Stochastic Variational Gaussian Process (SVGP) algorithm. With a positive result, the combination was proven to be working. READ MORE

  3. 2. 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

  4. 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

  5. 4. Development of a non-linear hydrodynamic maneuvereing model of a diver delivery vehicle

    University essay from KTH/Marina system

    Author : Johan Pettersson; [2017]
    Keywords : ;

    Abstract : The SEAL Carrier is a marine hybrid craft with capacity to travel both on the surface and completely submerged with main objective to transport a group of divers. The craft is developed for transporting a unit of combat divers in and out the of area of operation where the high speed at surface and low signature when submerged are key features. READ MORE

  6. 5. Controlling an autonomous underwater vehicle through tunnels with a behavior-based control strategy

    University essay from Reglerteknik

    Author : Olle Axelsson; [2011]
    Keywords : autonomous underwater vehicle; tunnel inspection; behavior-based control; utility function; mission planner;

    Abstract : The objective of the master’s thesis work is to investigate how an autonomous underwater vehicle (AUV) should act in an underwater tunnel environment. The thesis proposes sensors, control strategies, mission statement, among others, required for tunnel assignments. A behavior-based control (BBC) strategy has been developed to control the AUV. READ MORE