Underwater Vehicles: Design and Applications


George M. Roman (Editor)

Series: Robotics Research and Technology
BISAC: TEC037000

Underwater Vehicles: Design and Applications first explores the application of the adaptive Kalman filter algorithm to the estimation of high speed autonomous underwater vehicle dynamics.
The authors investigate the performances of different control schemes, from non-model-based to model-based and adaptive model-based, implemented on a low-inertia underwater vehicle for three-dimensional helical trajectory tracking.
Control laws for collision avoidance in three-dimensional environments are introduced, considering scenarios where a vehicle detects arbitrarily shaped and nonconvex obstacles using sensors.

Table of Contents

Table of Contents


Chapter 1. Adaptive Adjustment of Process Noise Covariance in Kalman Filter for Estimation of AUV Dynamics
(Chingiz Hajiyev, Sıtkı Yenal Vural and Ulviye Hacizade, Aeronautics and Astronautics Faculty, Istanbul Technical University, Istanbul, Turkey, and others)

Chapter 2. From Non-Model-Based to Adaptive Model-Based Tracking Control of Low-Inertia Underwater Vehicles
(Auwal Shehu Tijjani and Ahmed Chemori, LIRMM, University of Montpellier, CNRS, Montpellier, France)

Chapter 3. Time-Efficient Path Planning Using Two Virtual Robots
(Jonghoek Kim, Electronic and Electrical Convergence Department, Hongik University, Sejong City, South Korea)


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