This thesis consists of a mathematical model, autopilot and guidance design of a mini ROV (Remotely Operated Underwater Vehicle) and investigates the effects of environmental forces (ocean currents etc.) on the guidance algorithms. First of all, a non-linear 6 degrees-of-freedom (DOF) mathematical model is obtained. This model includes hydrodynamics forces and moments. There is no exact calculation method for hydrodynamic coefficients / however strip theory and results of computational fluid dynamics (CFD) analysis are used to calculate their approximate values. Linear mathematical model is obtained by linearization at trim points and it is used when designing surge speed, heading and depth controller. Guidance is examined by two methods such as way point guidance by line-of-sight (LOS) and way point guidance based on optimal control. Moreover, an online obstacle avoidance algorithm is developed. This thesis ends with the subject of navigation of the vehicle under GPS-like measurements and magnetic sensors measurements.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12615767/index.pdf |
| Date | 01 September 2012 |
| Creators | Cevher, Firat Yilmaz |
| Contributors | Leblebicioglu, Prof. Dr. M. Kemal |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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