332 research outputs found
The design and implementation of a multi-agent architecture to increase coordination efficiency in multi-AUV operations
This research addresses the problem of coordinating multiple autonomous underwater
vehicle (AUV) operations. An intelligent mission executive has been created that uses
multi-agent technology to control and coordinate multiple AUVs in communication
deficient environments. By incorporating real time vehicle prediction, blackboardbased
hierarchical mission plans and mission optimisation in conjunction with a simple
broadcast communication system this system aims to handle the limitations inherent in
underwater operations and intelligently control multiple vehicles. In this research
efficiency is evaluated and then compared to the current state of the art in multiple AUV
control. The research is then validated in real AUV coordination trials.
Results will show that compared to the state of the art the control system developed and
implemented in this research coordinates multiple vehicles more efficiently and is able
to function in a range of poor communication environments. These findings are
supported by in water validation trials with heterogeneous AUVs.
This thesis will first present an in depth state of the art of the related research topics
including multi-agent systems, collaborative robotics and autonomous underwater
vehicles. The development and functionality of this research will then be explained
followed by a detailed description of the experiments. Results are then presented both
for the simulated and real world trials followed by a discussion of the findings
A COLLISION AVOIDANCE SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLES
The work in this thesis is concerned with the development of a novel and practical collision
avoidance system for autonomous underwater vehicles (AUVs). Synergistically,
advanced stochastic motion planning methods, dynamics quantisation approaches,
multivariable tracking controller designs, sonar data processing and workspace representation,
are combined to enhance significantly the survivability of modern AUVs.
The recent proliferation of autonomous AUV deployments for various missions such
as seafloor surveying, scientific data gathering and mine hunting has demanded a substantial
increase in vehicle autonomy. One matching requirement of such missions is
to allow all the AUV to navigate safely in a dynamic and unstructured environment.
Therefore, it is vital that a robust and effective collision avoidance system should be
forthcoming in order to preserve the structural integrity of the vehicle whilst simultaneously
increasing its autonomy.
This thesis not only provides a holistic framework but also an arsenal of computational
techniques in the design of a collision avoidance system for AUVs. The
design of an obstacle avoidance system is first addressed. The core paradigm is the
application of the Rapidly-exploring Random Tree (RRT) algorithm and the newly
developed version for use as a motion planning tool. Later, this technique is merged
with the Manoeuvre Automaton (MA) representation to address the inherent disadvantages
of the RRT. A novel multi-node version which can also address time varying
final state is suggested. Clearly, the reference trajectory generated by the aforementioned
embedded planner must be tracked. Hence, the feasibility of employing the
linear quadratic regulator (LQG) and the nonlinear kinematic based state-dependent
Ricatti equation (SDRE) controller as trajectory trackers are explored.
The obstacle detection module, which comprises of sonar processing and workspace
representation submodules, is developed and tested on actual sonar data acquired
in a sea-trial via a prototype forward looking sonar (AT500). The sonar processing
techniques applied are fundamentally derived from the image processing perspective.
Likewise, a novel occupancy grid using nonlinear function is proposed for the
workspace representation of the AUV. Results are presented that demonstrate the
ability of an AUV to navigate a complex environment.
To the author's knowledge, it is the first time the above newly developed methodologies
have been applied to an A UV collision avoidance system, and, therefore, it is
considered that the work constitutes a contribution of knowledge in this area of work.J&S MARINE LT
Probablistic approaches for intelligent AUV localisation
This thesis studies the problem of intelligent localisation for an autonomous underwater
vehicle (AUV). After an introduction about robot localisation and specific
issues in the underwater domain, the thesis will focus on passive techniques for AUV
localisation, highlighting experimental results and comparison among different techniques.
Then, it will develop active techniques, which require intelligent decisions
about the steps to undertake in order for the AUV to localise itself. The undertaken
methodology consisted in three stages: theoretical analysis of the problem, tests with
a simulation environment, integration in the robot architecture and field trials. The
conclusions highlight applications and scenarios where the developed techniques have
been successfully used or can be potentially used to enhance the results given by current
techniques. The main contribution of this thesis is in the proposal of an active
localisation module, which is able to determine the best set of action to be executed,
in order to maximise the localisation results, in terms of time and efficiency
Efficient collision-free path planning for autonomous underwater vehicles in dynamic environments with a hybrid optimization algorithm
publisher: Elsevier articletitle: Efficient collision-free path planning for autonomous underwater vehicles in dynamic environments with a hybrid optimization algorithm journaltitle: Ocean Engineering articlelink: http://dx.doi.org/10.1016/j.oceaneng.2016.09.040 content_type: article copyright: © 2016 Elsevier Ltd. All rights reserved
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