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Docking the Ocean Explorer Autonomous Underwater Vehicle using a low-cost acoustic positioning system and a fuzzy logic guidance algorithm

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Date Issued:
1997
Summary:
Having the ability to dock an Autonomous Underwater Vehicle (AUV) can significantly enhance the operation of such vehicles. In order to dock an AUV, the vehicle's position must be known precisely and a guidance algorithm must be used to drive the AUV to its dock. This thesis will examine and implement a low cost acoustic positioning system to meet the positioning requirements. At-sea tests will be used as a method of verifying the systems specifications and proper incorporation into the AUV. Analyses will be run on the results using several methods of interpreting the data. The second portion of this thesis will develop and test a fuzzy logic docking algorithm which will guide the AUV from a location within the range of the sonar system to the docking station. A six degree of freedom simulation incorporating the Ocean Explorer's hydrodynamic coefficients will be used for the simulation.
Title: Docking the Ocean Explorer Autonomous Underwater Vehicle using a low-cost acoustic positioning system and a fuzzy logic guidance algorithm.
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Name(s): Kronen, David Mitchell.
Florida Atlantic University, Degree grantor
Smith, Samuel M., Thesis advisor
College of Engineering and Computer Science
Department of Ocean and Mechanical Engineering
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1997
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 162 p.
Language(s): English
Summary: Having the ability to dock an Autonomous Underwater Vehicle (AUV) can significantly enhance the operation of such vehicles. In order to dock an AUV, the vehicle's position must be known precisely and a guidance algorithm must be used to drive the AUV to its dock. This thesis will examine and implement a low cost acoustic positioning system to meet the positioning requirements. At-sea tests will be used as a method of verifying the systems specifications and proper incorporation into the AUV. Analyses will be run on the results using several methods of interpreting the data. The second portion of this thesis will develop and test a fuzzy logic docking algorithm which will guide the AUV from a location within the range of the sonar system to the docking station. A six degree of freedom simulation incorporating the Ocean Explorer's hydrodynamic coefficients will be used for the simulation.
Identifier: 9780591625035 (isbn), 15502 (digitool), FADT15502 (IID), fau:12266 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 1997.
Subject(s): Oceanographic submersibles
Acoustical engineering
Underwater acoustics
Fuzzy algorithms
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/15502
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.