Integrated Command, Control and Communication for Autonomous Underwater Vehicles

被引：0
|
作者：
Emanuel, Clancy [1 ]
Zaidi, Daanish [2 ]
Gupta, Shalabh [1 ]
Zhou, Shengli [1 ]
机构：
[1] Univ Connecticut, Dept Elect & Comp Engn, Storrs, CT 06269 USA
[2] Univ Connecticut, Dept Comp Sci, Storrs, CT 06269 USA
来源：
OCEANS 2015 - MTS/IEEE WASHINGTON | 2015年
关键词：
D O I：
暂无
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
The paper presents a novel integration of underwater communication, localization, command and control for the purpose of point-to-point movement of an Autonomous Underwater Vehicle (AUV). An acoustic communication network is used to command the AUV to a desired point within the coordinate frame of the network which provides two-dimensional localization. This information is fused with path planning and control algorithms. A PID controller is developed, tested, and tuned, allowing the AUV to maintain a desired heading to accurately maneuver to the destination point. A robust multi-process software architecture is developed to eliminate single-point failures during mission critical routines. The integrated algorithms and hardware developed are experimentally tested and validated in a swimming pool.
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页数：5
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