Guidance of formations of autonomous underwater vehicles by virtual potential method

doctoral thesis

• Title (croatian): Vođenje formacija autonomnih bespilotnih ronilica primjenom metode virtualnih potencijala
• Author: Matko Barišić; MBZ: 267861
• Mentor: Zoran Vukić (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Vesna Županović (član povjerenstva)
• Committee member: Dario Matika (član povjerenstva)
• Committee member: Antonio Pascoal (član povjerenstva); strani drzavljanin: Nije dostupno
• Committee member: Siniša Srbljić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; (Department of Control and Computer Engineering); Zagreb
• Defense date and country: 2012-03-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering
• Universal decimal classification (UDC): 621.3 - Electrical engineering

Abstract

This dissertation presents a method for the decentralized coordinated guidance of autonomous underwater vehicles (AUVs) based on virtual potentials. The virtual potentials (VP) motion planning framework possesses the qualities of cross-layer uniting in a single formulation several imporant navigation goals: (i) stable and effective cruise towards a target, (ii ) avoidance of collisions, (iii ) formation-keeping. Two realistic models of vehicle dynamics were used – a cruise-type vehicle and one independently actuated in heave. A layer linking the VP framework with the lowlevel controllers was developed, as was a navigation filter of the sigma-point Unscented Kalman filter variety. Furthermore, realistic process and measurement noises were simulated, which include non-stationary effects and effects beyond first order statistics, as well as bias, flicker and intermittent sensor failure. A non-consensual local knowledge of the environment, in terms of obstacles, was also simulated. A special discussion was dedicated to the broadcast communications protocols in a formation. The VP framework was also used as a tool to generate realistic pseudo-stationary sea currents in 3D. Two novel criteria for performance assessment were proposed and used in testing. The VP framework was shown to exhibit robust, stable, resource-efficient formation-keeping and navigation towards prescribed goals.

Abstract (croatian)

Disertacija opisuje metodu decentraliziranog koordiniranog upravljanja autonomnim bespilotnim ronilicama zasnovanu na virtualnim potencijalima. Predložena metoda seže kroz više klasičnih upravljačkih razina i postiže nekoliko bitnih ciljeva: (i) stabilno i efikasno navođenje na cilj, (ii) izbjegavanje sudara, (iii) održavanje formacije. U disertaciji su uporabljena dva realistična dinamička modela ronilica – krstareća ronilica i ona s nezavisnim okomitim zaranjanjem. Za estimaciju stanja korišten je Kalmanov filtar bez predrasuda sa sigma-točkama. Predložen je i raspravljen komunikacijski protokol koji osigurava pravilno održavanje formacije. Prikazane su robustnost i stabilnost predložene metode, kao i efikasno korištenje resursa za navođenje na zadani cilj uz održavanje formacije

• Keywords: unmanned marine vehicles; autonomous underwater vehicles; decentralized control; coordinated control; navigation; guidance and control of marine vehicles; virtual potentials; rotor vector fields; local minima avoidance; collision avoidance; formation cruising
• Keywords (croatian): bespilotna plovila; bespilotne ronilice; decentralizirano upravljanje; koordinirano upravljanje; navigacija; vođenje i upravljanje plovila; virtualni potencijali; rotorska vektorska polja; izbjegavanje lokalnih minimuma; upravljanje formacijama
• Language: english
• URN:NBN: urn:nbn:hr:168:460893
• Study programme: Title: Doctoral study programme "Electrical Engineering and Computing"; Study programme type: university; Study level: postgraduate; Academic / professional title: doktor/doktorica znanosti, po-dručje tehničkih znanosti (doktor/doktorica znanosti, po-dručje tehničkih znanosti)
• Catalog URL: http://lib.fer.hr/cgi-bin/koha/opac-detail.pl?biblionumber=39362
• Type of resource: Text
• Extent: 232 str ; 30 cm
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-07-22 07:31:46