prikaz prve stranice dokumenta Guidance of formations of autonomous underwater vehicles by virtual potential method
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doctoral thesis
Guidance of formations of autonomous underwater vehicles by virtual potential method
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2012. urn:nbn:hr:168:460893
Barišić, Matko
University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering

Institutional repository: FER Repository

Cite this document

Barišić, M. (2012). Guidance of formations of autonomous underwater vehicles by virtual potential method (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:460893

Barišić, Matko. "Guidance of formations of autonomous underwater vehicles by virtual potential method." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2012. https://urn.nsk.hr/urn:nbn:hr:168:460893

Barišić, Matko. "Guidance of formations of autonomous underwater vehicles by virtual potential method." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2012. https://urn.nsk.hr/urn:nbn:hr:168:460893

Barišić, M. (2012). 'Guidance of formations of autonomous underwater vehicles by virtual potential method', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 18 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:460893

Barišić M. Guidance of formations of autonomous underwater vehicles by virtual potential method [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2012 [cited 2024 December 18] Available at: https://urn.nsk.hr/urn:nbn:hr:168:460893

M. Barišić, "Guidance of formations of autonomous underwater vehicles by virtual potential method", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2012. Available at: https://urn.nsk.hr/urn:nbn:hr:168:460893

Metadata
TitleGuidance of formations of autonomous underwater vehicles by virtual potential method
Title (croatian)Vođenje formacija autonomnih bespilotnih ronilica primjenom metode virtualnih potencijala
AuthorMatko Barišić
MBZ: 267861
MentorZoran Vukić (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberVesna Županović (član povjerenstva)
Committee memberDario Matika (član povjerenstva)
Committee memberAntonio Pascoal (član povjerenstva)
strani drzavljanin: Nije dostupno
Committee memberSiniša Srbljić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
(Department of Control and Computer Engineering)
Zagreb
Defense date and country2012-03-26, 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
Keywords (croatian)
Languageenglish
URN:NBNurn:nbn:hr:168:460893
Study programmeTitle: 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 URLhttp://lib.fer.hr/cgi-bin/koha/opac-detail.pl?biblionumber=39362
Type of resourceText
Extent232 str ; 30 cm
File originBorn digital
Access conditionsClosed access
Terms of useLicence In copyright icon
Created on2019-07-22 07:31:46