Current Search: Teo, Hoe Eng. (x)
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Title
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A robust AUV docking guidance and navigation approach to handling unknown current disturbances.
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Creator
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Teo, Hoe Eng., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
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Abstract/Description
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The main contribution in this thesis is the design of a robust AUV docking guidance and navigation approach that can guide and home an AUV towards an acoustic source located on an oriented bottom-mounted underwater docking station, under presence of unknown current disturbances and in the absence of any form of onboard velocity sensor. A Complementary Filter and various forms of Kalman Filters were separately formulated to estimate the current and vehicle positions with strategic vehicle...
Show moreThe main contribution in this thesis is the design of a robust AUV docking guidance and navigation approach that can guide and home an AUV towards an acoustic source located on an oriented bottom-mounted underwater docking station, under presence of unknown current disturbances and in the absence of any form of onboard velocity sensor. A Complementary Filter and various forms of Kalman Filters were separately formulated to estimate the current and vehicle positions with strategic vehicle manoeuvres. A current compensator uses the estimated current to maintain the desired vehicle course while under current disturbance. Tagaki-Sugeno-Kang Fuzzy Inference System was designed to realize fuzzy docking guidance manoeuvres. Finally, Monte Carlo runs were performed on a designed AUV docking simulator to evaluate the docking robustness against various docking conditions. Simulation results demonstrated robustness in the designed docking guidance and navigation approach.
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Date Issued
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2010
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PURL
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http://purl.flvc.org/FAU/2683137
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Subject Headings
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Oceanographic submersibles, Computer simulation, Underwater navigation, Fuzzy systems, Automatic control, Mathematical models
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Format
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Document (PDF)
