Advances in Unmanned Marine Vehicles

List of Authors xv 1 Editorial: navigation, guidance and control of unmanned marine vehicles 1(12) G.N. Roberts and R. Sutton 1.1 Introduction 1(3) 1.2 Contributions 4(7) 1.3 Concluding Remarks 11(2) 2 Nonlinear modelling, identification and control of UUVs 13(30) T.I. Fossen and A. Ross 2.1 Introduction 13(1) 2.1.1 Notation 13(1) 2.2 Modelling of UUVs 14(10) 2.2.1 Six DOF kinematic equations 14(2) 2.2.2 Kinetics 16(1) 2.2.3 Equations of motion 16(3) 2.2.4 Equations of motion including ocean currents 19(1) 2.2.5 Longitudinal and lateral models 20(4) 2.3 Identification of UUVs 24(7) 2.3.1 A priori estimates of rigid-body parameters 25(1) 2.3.2 A priori estimates of hydrodynamic added mass 25(1) 2.3.3 Identification of damping terms 25(6) 2.4 Nonlinear control of UUVs 31(9) 2.4.1 Speed, depth and pitch control 32(5) 2.4.2 Heading control 37(3) 2.4.3 Alternative methods of control 40(1) 2.5 Conclusions 40(3) 3 Guidance laws, obstacle avoidance and artificial potential functions 43(24) A.J. Healey 3.1 Introduction 43(1) 3.2 Vehicle guidance, track following 44(8) 3.2.1 Vehicle steering model 45(1) 3.2.2 Line of sight guidance 46(1) 3.2.3 Cross-track error 47(2) 3.2.4 Line of sight with cross-track error controller 49(1) 3.2.5 Sliding mode cross-track error guidance 50(1) 3.2.6 Large heading error mode 51(1) 3.2.7 Track path transitions 52(1) 3.3 Obstacle avoidance 52(12) 3.3.1 Planned avoidance deviation in path 52(2) 3.3.2 Reactive avoidance 54(5) 3.4 Artificial potential functions 59(2) 3.4.1 Potential function for obstacle avoidance 61(1) 3.4.2 Multiple obstacles 62(2) 3.5 Conclusions 64(1) 3.6 Acknowledgements 65(2) 4 Behaviour control of UUVs 67(20) M. Carreras, P. Ridao, R. Garcia and J. Batlle 4.1 Introduction 67(2) 4.2 Principles of behaviour-based control systems 69(3) 4.2.1 Coordination 71(1) 4.2.2 Adaptation 72(1) 4.3 Control architecture 72(4) 4.3.1 Hybrid coordination of behaviours 73(2) 4.3.2 Reinforcement learning-based behaviours 75(1) 4.4 Experimental set-up 76(4) 4.4.1 URIS UUV 76(2) 4.4.2 Set-up 78(1) 4.4.3 Software architecture 78(1) 4.4.4 Computer vision as a navigation tool 79(1) 4.5 Results 80(3) 4.5.1 Target tracking task 80(2) 4.5.2 Exploration and mapping of unknown environments 82(1) 4.6 Conclusions 83(4) 5 Thruster control allocation for over-actuated, open-frame underwater vehicles 87(18) E. Omerdic and G.N. Roberts 5.1 Introduction 87(1) 5.2 Problem formulation 88(2) 5.3 Nomenclature 90(2) 5.3.1 Constrained control subset S2 90(1) 5.3.2 Attainable command set 4 91(1) 5.4 Pseudoinverse 92(3) 5.5 Fixed-point iteration method 95(1) 5.6 Hybrid approach 96(2) 5.7 Application to thruster control allocation for over-actuated thruster-propelled UVs 98(5) 5.8 Conclusions 103(2) 6 Switching-based supervisory control of underwater vehicles 105(22) G. Ippoliti, L. Jetto and S. Longhi 6.1 Introduction 105(1) 6.2 Multiple models switching-based supervisory control 106(3) 6.3 The EBSC approach 109(2) 6.3.1 An implementation aspect of the EBSC 110(1) 6.4 The HSSC approach 111(1) 6.4.1 The switching policy 111(1) 6.5 Stability analysis 112(2) 6.5.1 Estimation-based supervisory control 112(1) 6.5.2 Hierarchically supervised switching control 113(1) 6.6 The ROV model 114(2) 6.6.1 The linearised model 116(1) 6.7 Numerical results 116(5) 6.8 Conclusions 121(6) 7 Navigation, guidance and control of the Hammerhead autonomous underwater vehicle 127(34) D. Loebis, W. Naeem, R. Sutton, J. Chudley and A. Tiano 7.1 Introduction 127(2) 7.2 The Hammerhead AUV navigation system 129(16) 7.2.1 Fuzzy Kalman filter 129(1) 7.2.2 Fuzzy logic observer 130(1) 7.2.3 Fuzzy membership functions optimisation 131(1) 7.2.4 Implementation results 131(5) 7.2.5 GPS/INS navigation 136(9) 7.3 System modelling 145(2) 7.3.1 Identification results 146(1) 7.4 Guidance 147(1) 7.5 Hammerhead autopilot design 148(7) 7.5.1 LQG/LTR controller design 149(1) 7.5.2 Model predictive control 150(5) 7.6 Concluding remarks 155(6) 8 Robust control of autonomous underwater vehicles and verification on a tethered flight vehicle 161(26) Z. Feng and R. Allen 8.1 Introduction 161(1) 8.2 Design of robust autopilots for torpedo-shaped AUVs 162(7) 8.2.1 Dynamics of Subzero III (excluding tether) 163(2) 8.2.2 Plant models for control design 165(1) 8.2.3 Design of reduced-order autopilots 166(3) 8.3 Tether compensation for Subzero III 169(12) 8.3.1 Composite control scheme 169(1) 8.3.2 Evaluation of tether effects 170(7) 8.3.3 Reduction of tether effects 177(2) 8.3.4 Verification of composite control by nonlinear simulations 179(2) 8.4 Verification of robust autopilots via field tests 181(2) 8.5 Conclusions 183(4) 9 Low-cost high-precision motion control for ROVs 187(30) M. Caccia 9.1 Introduction 187(2) 9.2 Related research 189(3) 9.2.1 Modelling and identification 189(1) 9.2.2 Guidance and control 189(1) 9.2.3 Sensing technologies 190(2) 9.3 Romeo ROV mechanical design 192(1) 9.4 Guidance and control 193(3) 9.4.1 Velocity control (dynamics) 194(1) 9.4.2 Guidance (task kinematics) 195(1) 9.5 Vision-based motion estimation 196(6) 9.5.1 Vision system design 196(3) 9.5.2 Three-dimensional optical laser triangulation sensor 199(1) 9.5.3 Template detection and tracking 200(1) 9.5.4 Motion from tokens 201(1) 9.5.5 Pitch and roll disturbance rejection 201(1) 9.6 Experimental results 202(6) 9.7 Conclusions 208(9) 10 Autonomous manipulation for an intervention AUV 217(22) G. Marani, J. Yuh and S.K. Choi 10.1 Introduction 217(1) 10.2 Underwater manipulators 218(1) 10.3 Control system 218(14) 10.3.1 Kinematic control 218(5) 10.3.2 Kinematics, inverse kinematics and redundancy resolution 223(1) 10.3.3 Resolved motion rate control 223(1) 10.3.4 Measure of manipulability 224(1) 10.3.5 Singularity avoidance for a single task 225(2) 10.3.6 Extension to inverse kinematics with task priority 227(3) 10.3.7 Example 230(1) 10.3.8 Collision and joint limits avoidance 230(2) 10.4 Vehicle communication and user interface 232(1) 10.5 Application example 233(3) 10.6 Conclusions 236(3) 11 AUV 'r2D4', its operation, and road map for AUV development 239(16) T. Ura 11.1 Introduction 239(1) 11.2 AUV 'r2D4' and its no. 16 dive at Rota Underwater Volcano 240(8) 11.2.1 R-Two project 240(1) 11.2.2 AUV 'r2D4' 241(3) 11.2.3 Dive to Rota Underwater Volcano 244(4) 11.3 Future view of AUV research and development 248(5) 11.3.1 AUV diversity 250(2) 11.3.2 Road map of R&D of AUVs 252(1) 11.4 Acknowledgements 253(2) 12 Guidance and control of a biomimetic-autonomous underwater vehicle 255(22) J. Guo 12.1 Introduction 255(2) 12.2 Dynamic modelling 257(8) 12.2.1 Rigid body dynamics 258(5) 12.2.2 Hydrodynamics 263(2) 12.3 Guidance and control of the BAUV 265(8) 12.3.1 Guidance of the BAUV 266(1) 12.3.2 Controller design 267(3) 12.3.3 Experiments 270(3) 12.4 Conclusions 273(4) 13 Seabed-relative navigation by hybrid structured lighting 277(16) F. Dalgleish, S. Tetlow and R.L. Allwood 13.1 Introduction 277(2) 13.2 Description of sensor configuration 279(1) 13.3 Theory 279(4) 13.3.1 Laser stripe for bathymetric and reflectivity seabed profiling 281(2) 13.3.2 Region-based tracker 283(1) 13.4 Constrained motion testing 283(8) 13.4.1 Laser altimeter mode 283(2) 13.4.2 Dynamic performance of the laser altimeter process 285(1) 13.4.3 Dynamic performance of region-based tracker 286(2) 13.4.4 Dynamic imaging performance 288(3) 13.5 Summary 291(1) 13.6 Acknowledgements 291(2) 14 Advances in real-time spatio-temporal 3D data visualisation for underwater robotic exploration 293(18) S.C. Martin, L.L. Whitcomb, R. Arsenault, M. Plumlee and C. Ware 14.1 Introduction 293(2) 14.1.1 The need for real-time spatio-temporal display of quantitative oceanographic sensor data 294(1) 14.2 System design and implementation 295(5) 14.2.1 Navigation 295(1) 14.2.2 Real-time spatio-temporal data display with Geolui3D 295(2) 14.2.3 Real-time fusion of navigation data and scientific sensor data 297(3) 14.3 Replay of survey data from Mediterranean expedition 300(1) 14.4 Comparison of real-time system implemented on the JHU ROV to a laser scan 301(4) 14.4.1 Real-time survey experimental set-up 301(1) 14.4.2 Laser scan experimental set-up 302(1) 14.4.3 Real-time system experimental results 303(1) 14.4.4 Laser scan experimental results 303(2) 14.4.5 Comparison of laser scan to real-time system 305(1) 14.5 Preliminary field trial on the Jason 2 ROV 305(3) 14.6 Conclusions and future work 308(3) 15 Unmanned surface vehicles – game changing technology for naval operations 311(18) S.J. Corfield and J.M. Young 15.1 Introduction 311(1) 15.2 Unmanned surface vehicle research and development 312(1) 15.3 Summary of major USV subsystems 313(5) 15.3.1 The major system partitions 313(1) 15.3.2 Major USV subsystems 314(1) 15.3.3 Hulls 314(2) 15.3.4 Auxiliary structures 316(1) 15.3.5 Engines, propulsion subsystems and fuel systems 316(1) 15.3.6 USV autonomy, mission planning and navigation, guidance and control 317(1) 15.4 USV payload systems 318(1) 15.5 USV launch and recovery systems 319(1) 15.6 USV development examples: MIMIR, SWIMS and FENRIR 319(7) 15.6.1 The MIMIR USV system 319(2) 15.6.2 The SWIMS USV system 321(4) 15.6.3 The FENRIR USV system and changing operational scenarios 325(1) 15.7 The game changing potential of USVs 326(3) 16 Modelling, simulation and control of an autonomous surface marine vehicle for surveying applications Measuring Dolphin MESSIN* 329(24) J. Majohr and T. Buch 16.1 Introduction and objectives 329(1) 16.2 Hydromechanical conception of the MESSIN 330(2) 16.3 Electrical developments of the MESSIN 332(1) 16.4 Hierarchical steering system and overall steering structure 333(3) 16.5 Positioning and navigation 336(1) 16.6 Modelling and identification 337(5) 16.6.1 Second-order course model [16] 338(1) 16.6.2 Fourth-order track model [17] 338(4) 16.7 Route planning, mission control and automatic control 342(2) 16.8 Implementation and simulation 344(2) 16.9 Test results and application 346(7) 17 Vehicle and mission control of single and multiple autonomous marine robots 353(34) A. Pascoal, C. Silvestre and P. Oliveira 17.1 Introduction 353(1) 17.2 Marine vehicles 354(4) 17.2.1 The Infante AUV 354(1) 17.2.2 The Delfim ASC 355(1) 17.2.3 The Sirene underwater shuttle 356(1) 17.2.4 The Caravela 2000 autonomous research vessel 357(1) 17.3 Vehicle control 358(17) 17.3.1 Control problems: motivation 359(3) 17.3.2 Control problems: design techniques 362(13) 17.4 Mission control and operations at sea 375(5) 17.4.1 The CORAL mission control system 376(3) 17.4.2 Missions at sea 379(1) 17.5 Conclusions 380(7) 18 Wave-piercing autonomous vehicles 387(20) H. Young, J. Ferguson, S. Phillips and D. Hook 18.1 Introduction 387(3) 18.1.1 Abbreviations and definitions 387(1) 18.1.2 Concepts 388(1) 18.1.3 Historical development 388(2) 18.2 Wave-piercing autonomous underwater vehicles 390(6) 18.2.1 Robotic mine-hunting concept 391(2) 18.2.2 Early tests 393(1) 18.2.3 US Navy RMOP 393(1) 18.2.4 The Canadian 'Dorado' and development of the French 'SeaKeeper' 394(2) 18.3 Wave-piercing autonomous surface vehicles 396(7) 18.3.1 Development programme 398(2) 18.3.2 Command and control 400(1) 18.3.3 Launch and recovery 401(1) 18.3.4 Applications 402(1) 18.4 Daughter vehicles 403(2) 18.4.1 Applications 404(1) 18.5 Mobile buoys 405(1) 18.5.1 Applications 405(1) 18.6 Future development of unmanned wave-piercing vehicles 405(2) 19 Dynamics, control and coordination of underwater gliders 407(26) R. Bachmayei; N.E. Leonard, P. Bhatta, E. Fiorelli and J.G. Graver 19.1 Introduction 407(1) 19.2 A mathematical model for underwater gliders 408(4) 19.3 Glider stability and control 412(5) 19.3.1 Linear analysis 412(3) 19.3.2 Phugoid-mode model 415(2) 19.4 Slocum glider model 417(7) 19.4.1 The Slocum glider 417(2) 19.4.2 Glider identification 419(5) 19.5 Coordinated glider control and operations 424(5) 19.5.1 Coordinating gliders with virtual bodies and artificial potentials 425(1) 19.5.2 VBAP glider implementation issues 426(1) 19.5.3 AOSN II sea trials 426(3) 19.6 Final remarks 429(4) Index 433