Autonomous Underwater Vehicle control

In this paper the system control design stages for an autonomous underwater vehicle are presented. The vehicle must be able to sail on sea surface, following a path without losing its route and once a position is reached, a dive following a perpendicular path to the surface is carried out. A two lev...

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Detalles Bibliográficos
Autores: Vidal Morató, Jordi, Gomáriz Castro, Spartacus|||0000-0001-9765-2176, Manuel Lázaro, Antonio|||0000-0002-6161-0908
Tipo de recurso: artículo
Fecha de publicación:2005
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2099/1799
Acceso en línea:https://hdl.handle.net/2099/1799
Access Level:acceso abierto
Palabra clave:vehicles submergibles
Àrees temàtiques de la UPC::Nàutica::Enginyeria naval
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oai_identifier_str oai:upcommons.upc.edu:2099/1799
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repository_id_str
spelling Autonomous Underwater Vehicle controlVidal Morató, JordiGomáriz Castro, Spartacus|||0000-0001-9765-2176Manuel Lázaro, Antonio|||0000-0002-6161-0908vehicles submergiblesÀrees temàtiques de la UPC::Nàutica::Enginyeria navalIn this paper the system control design stages for an autonomous underwater vehicle are presented. The vehicle must be able to sail on sea surface, following a path without losing its route and once a position is reached, a dive following a perpendicular path to the surface is carried out. A two level system control are proposed. The primary level will control the navigation of the vehicle where a linear controllers are proposed. Whereas in secondary level guidance system, collision system, start, stop and abort mission events will be ordered by neuro-fuzzy control. The implementation of these algorithms will be supported by a Motorola Coldfire family microcontroller (MCF5272).SARTI (Technological Development Centre of Remote Acquisition and Data processing Systems. Technical University of Catalonia (UPC).20052005-10-0120062006-06-02journal articlehttp://purl.org/coar/resource_type/c_6501NAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2099/1799reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 2.5 Spainhttp://creativecommons.org/licenses/by-nc-nd/2.5/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2099/17992026-05-27T15:37:01Z
dc.title.none.fl_str_mv Autonomous Underwater Vehicle control
title Autonomous Underwater Vehicle control
spellingShingle Autonomous Underwater Vehicle control
Vidal Morató, Jordi
vehicles submergibles
Àrees temàtiques de la UPC::Nàutica::Enginyeria naval
title_short Autonomous Underwater Vehicle control
title_full Autonomous Underwater Vehicle control
title_fullStr Autonomous Underwater Vehicle control
title_full_unstemmed Autonomous Underwater Vehicle control
title_sort Autonomous Underwater Vehicle control
dc.creator.none.fl_str_mv Vidal Morató, Jordi
Gomáriz Castro, Spartacus|||0000-0001-9765-2176
Manuel Lázaro, Antonio|||0000-0002-6161-0908
author Vidal Morató, Jordi
author_facet Vidal Morató, Jordi
Gomáriz Castro, Spartacus|||0000-0001-9765-2176
Manuel Lázaro, Antonio|||0000-0002-6161-0908
author_role author
author2 Gomáriz Castro, Spartacus|||0000-0001-9765-2176
Manuel Lázaro, Antonio|||0000-0002-6161-0908
author2_role author
author
dc.subject.none.fl_str_mv vehicles submergibles
Àrees temàtiques de la UPC::Nàutica::Enginyeria naval
topic vehicles submergibles
Àrees temàtiques de la UPC::Nàutica::Enginyeria naval
description In this paper the system control design stages for an autonomous underwater vehicle are presented. The vehicle must be able to sail on sea surface, following a path without losing its route and once a position is reached, a dive following a perpendicular path to the surface is carried out. A two level system control are proposed. The primary level will control the navigation of the vehicle where a linear controllers are proposed. Whereas in secondary level guidance system, collision system, start, stop and abort mission events will be ordered by neuro-fuzzy control. The implementation of these algorithms will be supported by a Motorola Coldfire family microcontroller (MCF5272).
publishDate 2005
dc.date.none.fl_str_mv 2005
2005-10-01
2006
2006-06-02
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2099/1799
url https://hdl.handle.net/2099/1799
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 2.5 Spain
http://creativecommons.org/licenses/by-nc-nd/2.5/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 2.5 Spain
http://creativecommons.org/licenses/by-nc-nd/2.5/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv SARTI (Technological Development Centre of Remote Acquisition and Data processing Systems. Technical University of Catalonia (UPC).
publisher.none.fl_str_mv SARTI (Technological Development Centre of Remote Acquisition and Data processing Systems. Technical University of Catalonia (UPC).
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300719

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