Guidance and control of autonomous underwater agents with acoustically aided navigation

doctoral thesis

• Title (croatian): Vođenje i upravljanje autonomnim podvodnim agentima uz akustički potpomognutu navigaciju
• Author: Đula Nađ
• Mentor: Nikola Mišković (mentor)
• Committee member: Nikola Mišković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; (Department of Control and Computer Engineering); Zagreb
• Defense date and country: 2017, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Automation and Robotics
• Universal decimal classification (UDC): 621.3 - Electrical engineering

Abstract

The thesis research focuses on navigation, guidance, control infrastructures and methodologies required for cooperative control of underwater vehicles. A toolset is proposed for navigation, guidance, and control of marine vessels, adapting to different vessels and sensor suites, enabling integration of delayed and asynchronous measurements from local and remote sensor sources. The toolset is applied to remote sonar based localization of small unmanned underwater vehicles. This concept is further combined with path following and target tracking algorithms, resulting in a diver tracking and localization aiding system of systems. A modified path stabilization controller is presented, capable of safe movement around and with the diver. It implements diver monitoring and tracking functionalities, and, combined with absolute positioning, a diver guidance feature is available. The thesis proposes an incremental experiment design methodology aimed at reducing development time and improving reproducibility. This methodology is used for design of final benchmark experiments for the proposed diver tracking and guidance systems. Results are presented from simulation incremental up to field results with real divers. Developed algorithms and methodologies define the three thesis contributions as: 1. System for navigation, guidance and control of marine vessels enabling integration of delayed and asynchronous measurements from stationary or mobile sensor sources, 2. Algorithm for cooperative control of underwater agents with seamless switching between diver guidance and tracking tasks, 3. Methodology for incremental and reproducible development, integration, validation and uncertainty evaluation for systems of systems.

Abstract (croatian)

Doktorski rad predlaže skup alata za navigaciju, vođenje i upravljanje plovilima prilagodljiv različitim vrstama plovila i senzora. Razvijeni alati primijenjeni su na daljinski potpomognutu lokalizaciju malih podvodnih vozila pomoću sonara. Nadalje, koncept potpomognute navigacije kombiniran je s algoritmima za praćenje putanje kako bi se razvio sustav za praćenje ronioca. Rad predstavlja izmijenjeni algoritam stabilizacije na putanji koji omogućava sigurno gibanje plovila oko i s roniocem. Razvijene su funkcionalnosti za nadzor i praćenje ronioca, a kombinirano s poznavanjem apsolutne pozicije pod vodom, algoritam omogućava i vođenje ronioca. Doktorski rad predlaže metodologiju za koračni (inkrementalni) dizajn eksperimenata s ciljem smanjivanja vremena razvoja i poboljšanja obnovljivosti eksperimenata. Metodologija je korištena za razvoj standardiziranih eksperimenata za predloženi sustav praćenja i vođenja ronioca. Rezultati su prezentirani u predloženim koracima od simulacije do konačnih terenskih rezultata s pravim roniocima. Temeljem algoritama i metodologija razvijenih unutar doktorata izdvojena su tri znanstvena doprinosa: 1. Sustav za navigaciju, vođenje i upravljanje plovilima koji omogućuje integraciju zakašnjelih i asinkronih mjerenja te mjerenja s udaljenih fiksnih i pokretnih senzora, 2. Algoritam za detekciju i praćenje manevarskih oblika podvodnog agenta u sonarskoj slici korištenjem višemodelskog estimatora, 3. Metodologija za inkrementalni i ponovljiv razvoj, integraciju, validaciju i analizu nesigurnosti u sustavu sustava.

• Keywords: unmanned underwater vehicles; human-robot interaction; navigation; guidance and control of underwater vehicles; diver tracking
• Keywords (croatian): bespilotna podvodna vozila; interakcija čovjek-robot; navigacija; vođenje i upravljanje podvodnim vozilima; praćenje ronioca
• Language: english
• URN:NBN: urn:nbn:hr:168:495794
• Study programme: Title: Electrical Engineering and Computing; Study programme type: university; Study level: postgraduate; Academic / professional title: Doktor znanosti elektrotehnike i računarstva (Doktor znanosti elektrotehnike i računarstva)
• Type of resource: Text
• Extent: 166 str. ; 30 cm.
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-04-09 14:00:43