Due to the conditions peculiar to underwater, distinctive approaches are required to solve the navigation and path planning problem of an unmanned underwater vehicle (UUV). In this study, first of all, a detailed 6 degrees-of-freedom (DOF) mathematical model is formed, including the coupled non-linear forces and moments acting on an underwater vehicle. The hydrodynamic coefficients which correspond to the geometry of the vehicle which the model is based on are calculated using the strip theory. After the mathematical model is obtained, by applying appropriate linearization on the model, &ldquo / Linear Quadratic Regulator (LQR)&rdquo / control method is implemented to govern the surge, heave, pitch and yaw motions of the underwater vehicle. Path planning algorithm of the vehicle is based on tracking the waypoints. Permutation of the waypoints is obtained by solving the &ldquo / Travelling Salesman Problem (TSP)&rdquo / via genetic algorithm. Linked with that, &ldquo / Rapidly-Exploring Random Trees (RRT)&rdquo / algorithm is introduced into the path planning algorithm to avoid collisions in environments with obstacles. Underwater navigation solution is based on the &ldquo / Inertial Navigation System (INS)&rdquo / outputs, located on the vehicle. To correct the long-term drift of the inertial solution, &ldquo / Kalman Filter&rdquo / based integration algorithm is used and external aids such as &ldquo / Global Navigation Satellite System (GNSS)&rdquo / , &ldquo / Ultra-Short Baseline (USBL)&rdquo / acoustic navigation system and attitude sensors have been utilized. The control method, path planning and navigation algorithms used in this study are verified by simulation results.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12614706/index.pdf |
| Date | 01 September 2012 |
| Creators | Gul, Ugur Dogan |
| Contributors | Leblebicioglu, 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 METU campus |
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