An algorithm designed to navigate an Autonomous Underwater Vehicle (AUV) within a charted environment is presented. The algorithm processes sensor inputs from the AUV high resolution scanning sonar, compass and velocimeter. The operating environment is modeled with a suitable three dimensional potential function and its gradient which form an attractive field. This algorithm provides performance comparable to the Kalman Filter with the advantage of reduced computational requirements facilitated by precomputation and table look up of correction factors. Applications of data smoothing filters and sliding mode theory are also investigated. The applicability and robustness of this approach are demonstrated with actual test data obtained with the NPS Phoenix submersible and extended simulation of complex environments including unmodeled obstacles.
| Identifer | oai:union.ndltd.org:nps.edu/oai:calhoun.nps.edu:10945/31423 |
| Date | 06 1900 |
| Creators | Conowitch, Kevin D. |
| Contributors | Roberto Cristi., Electrical Engineering |
| Publisher | Monterey, California. Naval Postgraduate School |
| Source Sets | Naval Postgraduate School |
| Language | en_US |
| Detected Language | English |
| Type | Thesis |
| Rights | This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, it may not be copyrighted. |
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