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Controlling an autonomous underwater vehicle through tunnels with a behavior-based control strategy
Linköping University, Department of Electrical Engineering, Automatic Control.
2011 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Styrning av en autonom undervattensfarkost genom tunnlar med en beteendebaserad reglerstrategi (Swedish)
Abstract [en]

The objective of the master’s thesis work is to investigate how an autonomous underwater vehicle (AUV) should act in an underwater tunnel environment. The thesis proposes sensors, control strategies, mission statement, among others, required for tunnel assignments.

A behavior-based control (BBC) strategy has been developed to control the AUV. The BBC is used in the middle level of the vehicle control, i.e. the reactive control system which describes how the AUV navigates through a tunnel, while other events are considered. The control strategy has also been separated into two parts, and these are: controlling the AUV’s heading and controlling the AUV to a desired distance from the tunnel wall.

To be able to evaluate the performance of the system, a graphical user interface (GUI) has been developed. The GUI enables the operator to change control settings during simulations. Two proposed control strategies are presented with simulated results.

Abstract [sv]

Syftet med examensarbetet är att undersöka hur en autonom undervattensfarkost (AUV) bör agera i en undervattenstunnel miljö. Avhandlingen föreslår sensorer, reglerstrategier, uppdragsbeskrivning med mera som krävs för tunneluppdrag.

En beteendebaserad (behavior-based) reglerstrategi har utvecklats för att styra AUV:n. Reglerstrategin används i mellersta nivån i farkostens reglering, det vill säga den reaktiva regleringen som beskriver hur farkosten ska styra genom en tunnel samtidigt som andra händelser beaktas. Reglerstrategin har även delats upp i två delar: reglering av AUV:ns kurs och reglering av AUV:n till ett önskat avstånd från tunnelns vägg.

För att kunna verifiera funktionaliteten av systemet så har även ett grafiskt användargränssnitt utvecklats. Gränssnittet möjliggör att man kan ändra reglerparametrar under en simulering. Två föreslagna reglerstrategier presenteras med tillhörande resultat.

Place, publisher, year, edition, pages
2011. , 53 p.
Keyword [en]
autonomous underwater vehicle, tunnel inspection, behavior-based control, utility function, mission planner
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-71874ISRN: LiTH-ISY-EX--11/4519--SEOAI: oai:DiVA.org:liu-71874DiVA: diva2:455132
Uppsok
Technology
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Available from: 2011-11-09 Created: 2011-11-08 Last updated: 2011-11-09Bibliographically approved

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CiteExportLink to record
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Citation style
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