Results 31 to 40 of about 19,016 (312)

End-to-End AUV Motion Planning Method Based on Soft Actor-Critic

Sensors, 2021
This study aims to solve the problems of poor exploration ability, single strategy, and high training cost in autonomous underwater vehicle (AUV) motion planning tasks and to overcome certain difficulties, such as multiple constraints and a sparse reward
Xin Yu, Yushan Sun, Xiangbin Wang, Guocheng Zhang   +3 more
doaj   +1 more source

Adaptive Disturbance-Observer-Based Continuous Sliding Mode Control for Small Autonomous Underwater Vehicles in the Trans-Atlantic Geotraverse Hydrothermal Field with Trajectory Modeling Based on the Path

Journal of Marine Science and Engineering, 2022
Considering intense hydrothermal activities and rugged topography in a near-bottom environment of the trans-Atlantic geotraverse (TAG) hydrothermal mound, a small autonomous underwater vehicle (S-AUV) will suffer from time-varying disturbances, model ...
Guofang Chen, Yihui Liu, Ziyang Zhang, Yufei Xu   +3 more
doaj   +1 more source

Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer

Sensors, 2019
The three-dimensional (3D) path following problem of an underactuated autonomous underwater vehicle with ocean currents disturbances is addressed in this paper.
Hao Xu, Guo-cheng Zhang, Jian Cao, Shuo Pang, Yu-shan Sun   +4 more
doaj   +1 more source

Neural Network-Based Adaptive Sigmoid Circular Path-Following Control for Underactuated Unmanned Surface Vessels under Ocean Disturbances

Journal of Marine Science and Engineering, 2023
This study describes a circular curve path-following controller for an underactuated unmanned surface vessel (USV) experiencing unmodeled dynamics and external disturbances. Initially, a three degrees of freedom kinematic model of the USV is proposed for
Yi Ren, Lei Zhang, Wenbin Huang, Xi Chen
doaj   +1 more source

Point Stabilization for an Underactuated AUV in the Presence of Ocean Currents

International Journal of Advanced Robotic Systems, 2015
This paper presents a state-feedback-based backstepping control algorithm to address the point stabilization (or set-point regulation) control problem for an underactuated autonomous underwater vehicle (AUV) in the presence of constant and irrotational ...
Zaopeng Dong, Lei Wan, Yueming Li, Tao Liu, Jiayuan Zhuang, Guocheng Zhang   +5 more
doaj   +1 more source

Influence of seabed sand wave on hydrodynamic performance of submersible

Zhongguo Jianchuan Yanjiu, 2023
ObjectivesThis paper studies the hydrodynamic characteristics of submersible under the interference of seabed sand wave topography. MethodsBased on the computational fluid dynamics (CFD) method, the process of submersible passing above a seabed sand wave
Peng LI, Yu GUO, Hongde QIN, Zhongchao DENG   +3 more
doaj   +1 more source

Finite-Time Trajectory Tracking Control for Uncertain Underactuated Marine Surface Vessels

IEEE Access, 2019
This paper concerns the finite-time trajectory tracking control problem for an underactuated marine surface vessel (MSV) suffering from the external disturbance and parameter uncertainties. First, the virtual velocity command is proposed based on a novel
Lei Zhang, Bing Huang, Yulei Liao, Bo Wang   +3 more
doaj   +1 more source

PROPELLER FAULT DIAGNOSIS BASED ON A RANK PARTICLE FILTER FOR AUTONOMOUS UNDERWATER VEHICLES

Brodogradnja, 2018
Rank particle filtering was applied to fault diagnosis technology. Control force and yaw moment losses that occurred in the corresponding degrees of freedom were estimated, and the trends of change were calculated by the multi-step-ahead prediction ...
Ye Li, Jiayu He, Yueming Li, Li An, Yanqing Jiang   +4 more
doaj   +1 more source

Target tracking control of underactuated autonomous underwater vehicle based on adaptive nonsingular terminal sliding mode control

International Journal of Advanced Robotic Systems, 2020
This article addresses the design of adaptive target tracking control for an underactuated autonomous underwater vehicle subject to uncertain dynamics and external disturbances induced by ocean current.
Jian Cao, Yushan Sun, Guocheng Zhang, Wenlong Jiao, Xiangbin Wang, Zhaohang Liu   +5 more
doaj   +1 more source

A Sensor System for the Navigation of an Underwater Vehicle

The International Journal of Robotics Research, 1999
A sensor system for an underwater vehicle is described. The vehicle is equipped with inclinometers, gyroscopes, a magnetometer, a pressure gauge, and a sonar system. The sensor models used for the inclinometers and gyroscopes are straightforward; however, the magnetometer can be corrupted by variations in the earth’s field caused by: external objects ...
Smith, R, Frost, A, Probert, P
openaire   +2 more sources