A review of path following control strategies for autonomous robotic vehicles: theory, simulations, and experiments

This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be formulated as the problem of stabilizing a path following error system that describes the dynamics of position and possibly orientation errors of a vehicle with respect to a path, with the errors defined in an appropriate reference frame. In spite of the large variety of path following methods described in the literature we show that, in principle, most of them can be categorized in two groups: stabilization of the path following error system expressed either in the vehicle's body frame or in a frame attached to a "reference point" moving along the path, such as a Frenet-Serret (F-S) frame or a Parallel Transport (P-T) frame. With this observation, we provide a unified formulation that is simple but general enough to cover many methods available in the literature. We then discuss the advantages and disadvantages of each method, comparing them from the design and implementation standpoint. We further show experimental results of the path following methods obtained from field trials testing with under-actuated and fully-actuated autonomous marine vehicles. In addition, we introduce open-source Matlab and Gazebo/ROS simulation toolboxes that are helpful in testing path following methods prior to their integration in the combined guidance, navigation, and control systems of autonomous vehicles

A survey on uninhabited underwater vehicles (UUV)

ASME Early Career Technical Conference, ASME ECTC, October 2-3, 2009, Tuscaloosa, Alabama, USAThis work presents the initiation of our underwater robotics research which will be focused on underwater vehicle-manipulator systems. Our aim is to build an underwater vehicle with a robotic manipulator which has a robust system and also can compensate itself under the influence of the hydrodynamic effects. In this paper, overview of the existing underwater vehicle systems, thruster designs, their dynamic models and control architectures are given. The purpose and results of the existing methods in underwater robotics are investigated

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

Feasible, Robust and Reliable Automation and Control for Autonomous Systems

The Special Issue book focuses on highlighting current research and developments in the automation and control field for autonomous systems as well as showcasing state-of-the-art control strategy approaches for autonomous platforms. The book is co-edited by distinguished international control system experts currently based in Sweden, the United States of America, and the United Kingdom, with contributions from reputable researchers from China, Austria, France, the United States of America, Poland, and Hungary, among many others. The editors believe the ten articles published within this Special Issue will be highly appealing to control-systems-related researchers in applications typified in the fields of ground, aerial, maritime vehicles, and robotics as well as industrial audiences

AN INFORMATION THEORETIC APPROACH TO INTERACTING MULTIPLE MODEL ESTIMATION FOR AUTONOMOUS UNDERWATER VEHICLES

Accurate and robust autonomous underwater navigation (AUV) requires the fundamental task of position estimation in a variety of conditions. Additionally, the U.S. Navy would prefer to have systems that are not dependent on external beacon systems such as global positioning system (GPS), since they are subject to jamming and spoofing and can reduce operational effectiveness. Current methodologies such as Terrain-Aided Navigation (TAN) use exteroceptive imaging sensors for building a local reference position estimate and will not be useful when those sensors are out of range. What is needed are multiple navigation filters where each can be more effective depending on the mission conditions. This thesis investigates how to combine multiple navigation filters to provide a more robust AUV position estimate. The solution presented is to blend two different filtering methodologies utilizing an interacting multiple model (IMM) estimation approach based on an information theoretic framework. The first filter is a model-based Extended Kalman Filter (EKF) that is effective under dead reckoning (DR) conditions. The second is a Particle Filter approach for Active Terrain Aided Navigation (ATAN) that is appropriate when in sensor range. Using data collected at Lake Crescent, Washington, each of the navigation filters are developed with results and then we demonstrate how an IMM information theoretic approach can be used to blend approaches to improve position and orientation estimation.Lieutenant, United States NavyApproved for public release. Distribution is unlimited

Nonlinear Model Predictive Control-based Collision Avoidance for Mobile Robot

This work proposes an efficient and safe single-layer Nonlinear Model Predictive Control (NMPC) system based on LiDAR to solve the problem of autonomous navigation in cluttered environments with previously unidentified static and dynamic obstacles of any shape. Initially, LiDAR sensor data is collected. Then, the Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithm, is used to cluster the (Lidar) points that belong to each obstacle together. Moreover, a Minimum Euclidean Distance (MED) between the robot and each obstacle with the aid of a safety margin is utilized to implement safety-critical obstacle avoidance rather than existing methods in the literature that depend on enclosing the obstacles with a circle or minimum bounding ellipse. After that, to impose avoidance constraints with feasibility guarantees and without compromising stability, an NMPC for set-point stabilization is taken into consideration with a design strategy based on terminal inequality and equality constraints. Consequently, numerous obstacles can be avoided at the same time efficiently and rapidly through unstructured environments with narrow corridors.  Finally, a case study with an omnidirectional wheeled mobile robot (OWMR) is presented to assess the proposed NMPC formulation for set-point stabilization. Furthermore, the efficacy of the proposed system is tested by experiments in simulated scenarios using a robot simulator named CoppeliaSim in combination with MATLAB which utilizes the CasADi Toolbox, and Statistics and Machine Learning Toolbox. Two simulation scenarios are considered to show the performance of the proposed framework. The first scenario considers only static obstacles while the second scenario is more challenging and contains static and dynamic obstacles. In both scenarios, the OWMR successfully reached the target pose (1.5m, 1.5m, 0°) with a small deviation. Four performance indices are utilized to evaluate the set-point stabilization performance of the proposed control framework including the steady-state error in the posture vector which is less than 0.02 meters for position and 0.012 for orientation, and the integral of norm squared actual control inputs which is 19.96 and 21.74 for the first and second scenarios respectively. The proposed control framework shows a positive performance in a narrow-cluttered environment with unknown obstacles

Underwater Vehicles

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties