Cooperative control of autonomous underwater vehicles.

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Title: Cooperative control of autonomous underwater vehicles.
Author: Savage, Elizabeth
Abstract: The proposed project is the simulation of a system to search for air vehicles which have splashed -down in the ocean . The system comprises a group of 10+ autonomous underwater vehicles , which cooperate in order to locate the aircraft . The search algorithm used in this system is based on a quadratic Newton method and was developed at Sandia National Laboratories . The method has already been successfully applied to several two dimensional problems at Sandia . The original 2D algorithm was converted to 3D and tested for robustness in the presence of sensor error , position error and navigational error . Treating the robots as point masses , the system was found to be robust for all such errors . Several real -life adaptations were necessary . A round -robin communication strategy was implemented on the system to properly simulate the dissemination of information throughout the group . Time to convergence is delayed but the system still functioned adequately . Once simulations for the point masses had been exhausted , the dynamics of the robots were included . The robot equations of motion were described using Kane's equations . Path -planning was investigated using optimal control methods . The Variational Calculus approach was attempted using a line search tool "fsolve" found in Matlab and a Genetic Algorithm . A dynamic programming technique was also investigated using a method recently developed by Sandia National Laboratories . The Dynamic Programming with Interior Points (DPIP ) method was a very effcient method for path planning and performed well in the presence of system constraints . Finally all components of the system were integrated . The motion of the robot exactly matched the motion of the particles , even when subjected to the same robustness tests carried out on the point masses . This thesis provides exciting developments for all types of cooperative projects .
URI: http : / /hdl .handle .net /1969 .1 /236
Date: 2004-09-30


Cooperative control of autonomous underwater vehicles.. Available electronically from http : / /hdl .handle .net /1969 .1 /236 .

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