Inteligentno vođenje i upravljanje bespilotnom ronilicom

scientific master's theses

• Author: Vedran Bakarić
• Mentor: Zoran Vukić (mentor)
• Committee member: Ljubomir Kuljača (predsjednik povjerenstva)
• Committee member: Zoran Vukić (član povjerenstva)
• Committee member: Branko Novaković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; (Department of Control and Computer Engineering); Zagreb
• Defense date and country: 2000-05-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering
• Universal decimal classification (UDC): 621.3 - Electrical engineering

Abstract

Jedna od najvažnijih klasa bespilotnih robotskih vozila, bespilotne ronilice, u ovom času prolazi kroz postupni prijelaz od daljinski upravljanih uređaja prema autonomnim ronilicama. Razvoj autonomnih ronilica moguć je zahvaljujući brzom napretku u nekoliko kritičnih tehničkih područja, najvažnija od njih su izvori energije, bežične podvodne komunikacije, navigacija i, osobito, inteligentne arhitekture upravljanja misijom. Za izvođenje podvodnih manipulativnih operacija još je uvijek potreban ljudski operater, ali autonomne ronilice već mogu preuzeti jednostavnije zadatke izviđanja, traženja i inspekcije iz krstarećeg vozila. U ovom radu se nakon opsežnog uvoda u problematiku bespilotnih ronilica razmatra vođenje i upravljanje krstarećom bespilotnom ronilicom. Predstavljeni su klizni autopiloti napredovanja, kormilarenja i ronjenja, kao i jednostavan neizraziti autopilot kormilarenja. Opisano je nekoliko varijanti metode vođenja ronilice po liniji vida kroz putne točke, uz poseban osvrt na problem promašenih putnih točaka i na vođenje ronilice po najkraćoj putanji u oštrijim zavojima. Za potrebe istraživanja sastavljen je simulacijski model ronilice u programskom paketu MATLAB – Simulink.

Abstract (english)

One of the most important classes of unmanned robotic vehicles, Unmanned Underwater Vehicles (UUVs), is nowadays passing through gradual transition from Remotely Operated Vehicles (ROVs) towards Autonomous Underwater Vehicles (AUVs). The development of AUVs is possible due to fast rate of progress in several critical technological areas, notably power sources, underwater wireless communications, navigation and, especially, intelligent mission control architectures. A human operator is still needed for performing underwater manipulative operations, but AUVs can already take over more simple tasks of survey, search and inspection while cruising. This thesis gives a comprehensive introduction in the field of UUVs, followed by the consideration of control and guidance of a cruising AUV. Sliding mode autopilots for surge control, steering and diving, as well as a simple fuzzy steering autopilot, are presented. Several variants of line-of-sight guidance algorithm through way points are described, with special emphasis on missed way points problem and guidance along the shortest path during larger turns. Simulation model of the AUV needed for research is composed in the MATLAB-Simulink computing language.

• Keywords: Bespilotne ronilice; autonomne bespilotne ronilice; inteligentne arhitekture upravljanja; klizni autopiloti; vođenje metodom linije vida
• Keywords (english): Unmanned Underwater Vehicles (UUVs); Autonomous Underwater Vehicles (AUVs); intelligent control architectures; sliding mode autopilots; line-of-sight guidance
• Language: croatian
• URN:NBN: urn:nbn:hr:168:422422
• Study programme: Title: Postgraduate master programme in electrical engineering; Study programme type: university; Study level: postgraduate; Academic / professional title: Magistar znanosti elektrotehnike (Magistar znanosti elektrotehnike)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-04-03 13:31:37