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A quadrotor-like unmanned underwater vehicle
2016 Chinese Control and Decision Conference (CCDC), 2016A quadrotor-like unmanned underwater vehicle, named QUUV, is presented in this paper. It has four thrusters, which can be inclined configuration. It is designed and implemented based on hydrodynamic optimization. The mathematical model is built and the difference with ordinary underwater vehicles is discussed.
Jingwei Bian, Ji Xiang, Huilin Liang
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Aerial-underwater systems, a new paradigm in unmanned vehicles
2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017Unmanned Aerial-Underwater Vehicles (UAUVs) arise as a new kind of unmanned system capable of performing equally well in multiple mediums and seamlessly transitioning between them. This work focuses in the modeling and trajectory tracking control of a special class of air-underwater vehicle with full torque actuation and a single thrust force directed ...
Diego A. Mercado +2 more
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Bottom Following for Unmanned Underwater Vehicles
IFAC Proceedings Volumes, 1998Abstract The problem of high precision bottom-following in the proximity of the seabed for open-frame Unmanned Underwater Vehicles (UUVs) is addressed in this paper. The suggested approach consists of the integration of a two-layered guidance and control system with an active multi-hypothesis extended Kalman filter able to estimate the motion of the ...
M. Caccia +3 more
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Piezocomposites for unmanned underwater vehicle applications
SPIE Proceedings, 2015This paper reviews feasibility of piezoceramic-polymer composite, so called piezocomposite, materials for UUV sonar application. Focus is not only placed on high electro-acoustic transformation performance, also on mass productivity, which is achieved by introducing Powder Injection Molding(PIM) process.
Hoseop Shin +4 more
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Robust control of an unmanned underwater vehicle
Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171), 2002The paper briefly describes the design of a robust controller for an unmanned underwater vehicle (UUV) using polynomial eigenstructure assignment. The controller decouples the vertical motion and the pitching motion of the UUV using a first order dynamic feedback structure.
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Control Strategies for Unmanned Underwater Vehicles
Journal of Navigation, 1998In recent years, both the offshore industry and the navies of the world have become increasingly interested in the potential operational usage of unmanned underwater vehicles. This paper provides a comprehensive review of a number of modern control approaches and artificial intelligence techniques which have been applied to the autopilot design ...
Paul J. Craven +2 more
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Designing for autonomy in unmanned underwater vehicles
2012 Oceans, 2012The number and variety of unmanned vehicles tasked with operational support of Navy missions has increased significantly over the past decade. This trend continues under the direction of CNO to utilize these technologies for reduced cost and risk in future military applications.
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Coordinated Navigation of Unmanned Underwater Vehicles
2019 Chinese Control Conference (CCC), 2019The map of the navigation is building over the tactical tasks for coordinated navigation of the UUVs. A controller is presented, which contains the dynamics information of vehicles. Simultaneously, the feasible navigation is proved not only theoretical stability of controllers, but also numerical simulation results of differential equation toolbox with
Huai-long Wang +3 more
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Interval Velocity Estimation for Unmanned Underwater Vehicles
IEEE Control Systems Letters, 2023Li, Jitao +4 more
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Obstacle Avoidance by Unmanned Underwater Vehicle
Applied Mechanics and Materials, 2016Paper presents method of obstacle avoidance used in the example of unmanned underwater vehicle. The solution of this problem is divided into stage of: obstacle detecting and shape determination, decision making and control signal generation. The process to avoid an obstacle is presented as iterative model of behavior of dynamic system based on an array
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