Autonomous Underwater Vehicles Part 4 potx
Autonomous Underwater Vehicles Part 4 potx
... 26, 2001, pp. 42 4 43 6
[2] J. Sherman, R. E. Davis, W. B. Owens, et al , “The autonomous underwater glider
“Spray”,”
IEEE Journal of Oceanic Engineering, vol.26, 2001, pp. 43 7 44 6
[3] D. C. ... of profile drag coefficient and angle of attack
Autonomous Underwater Vehicles
52
-10
-8
-6
-4
-2
0
2
4
6
8
10
-40 -30-20-10 0 10 20 30 40
angle of at tack
α
(°)
L/D
NA...
MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 4 potx
... θ()
1
–
ξ
·
R
ξ
·
I
R θ()
1–
θcos θsin–0
θsin θcos 0
001
=
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⁄
=
r
1= l 1=
ϕ
·
1
4=
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2
2=
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I
·
x
·
y
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θ
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01–0
100
001
3
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1
===
54 Chapter 3
Under these assumptions, we present two constraints for ... three-matrix from equation
(3.15) for each steerable standard wheel.
In summary, equation (3. 24) represents the constraint that all standard wheels must spin
around their hor...
Autonomous Underwater Vehicles Part 3 docx
... 100 10 40 0 3 .44 -0. 044 4
13 150 6 40 -100 3.78 -0.05 94
14 150 8 60 100 3 .40 -0.0858
15 150 10 20 0 5.30 -0.0237
16 200 6 60 0 3. 94 -0.115
17 200 8 20 -100 6.17 -0.0562
18 200 10 40 100 ... 100 8 40 0 3.11 -0.0323
3 100 10 60 -100 2. 74 -0.109
4 150 6 20 0 4. 07 -0.00059
5 150 8 40 -100 4. 37 -0.08 54
6 150 10 60 100 3.82 -0.127
7 200 6 40 100 4. 88 -0.0158
8...
Autonomous Underwater Vehicles Part 5 docx
...
Switch
HG1700
IMU
RS -42 2
RS-232
Water Speed
Sensor
RS -48 5
RS-232
DVL (Optional)
RS-232
RS-232
Switch
Radio
Modem
Radio
Modem
Remote
E-Stop
Remote
E-Stop
44 0MHz
Wave Relay
MANET
2.4GHz
Throttle and ...
Autonomous Underwater Vehicles
72
will be ruled out. (In Fig .4 the trajectory requiring the UUV to jump out of the water is
infeasible because it violates the constraint (...
Autonomous Underwater Vehicles Part 6 docx
... be denoted a
(o,w,c)
i
, respectively, and represent the
106
Autonomous Underwater Vehicles
Autonomous Underwater Vehicles
94
framework. When these matching conditions are satisfied, the ... (6)
∂
∂d
p
o
(d)=−
A
+
d
2
exp
A
+
d
; lim
d→∞
∂
∂d
p
o
(d)=0; lim
d→0
+
∂
∂d
p
o
(d)=∞ (7)
1 04
Autonomous Underwater Vehicles
4 Will-be-set-by-IN-TECH
With all of the above...
Autonomous Underwater Vehicles Part 7 pps
... T
y
w
=
⎡
⎢
⎢
⎢
⎢
⎢
⎣
0.7 542 0.1000 0.1000 0.0208 0.0208 0.0 042
0 .47 39 0.3365 0.1 043 0.0379 0.02 84 0.0190
0 .47 39 0.1 043 0.3365 0.02 84 0.0379 0.0190
0.3825 0.1 749 0.1 749 0.09 84 0.09 84 0.0710
0.3825 0.1 749 0.1 749 0.09 84 ... 0.0617 0.0 044
0 .40 20 0 .40 20 0.1106 0.0503 0.0302 0.0050
0 .40 20 0.1106 0 .40 20 0.0302 0.0503 0.0050
0.37 04 0.2667 0. 148 1 0. 148 1 0.0593 0...
Autonomous Underwater Vehicles Part 8 pps
... Raton FL 3 348 7 USA.
Tuohy, S. T. (19 94) . A simulation model for AUV navigation, Proceedings of the 19 94 Symposium
on Autonomous Underwater Vehicle Technology, pp. 47 0 47 8.
US Navy (20 04) . The US ... 12 (4) , 45 6-
45 9
Ren Yongping, Li Shengyi (2005). Design method of a kind of new controller. Control and
Decision, 20 (4) , 47 1 -47 4
Venugopal KP, Sudhakar R (1992). On-l...
Autonomous Underwater Vehicles Part 9 doc
... the vehicle. The typical configuration
Autonomous Underwater Vehicles
162
4. Overall control system
Overall, the control system of any autonomous underwater vehicle consists of a control ... of the vehicle, regardless of what
sensor information is available.
Autonomous Underwater Vehicles
1 64
Fig. 4. Surge trajectory.
Fig. 5. Surge trajectory magnified....
Autonomous Underwater Vehicles Part 10 pdf
... (1985). Robust Trajectory Control of Underwater Vehicles.
IEEE
Journal of Oceanic Engineering
, Vol. 10, No. 4, (October), pp. (46 2 -47 0), ISSN 03 64- 9059
14 Will-be-set-by-IN-TECH
the swarm, ... Engineering, Vol. 26, No.
4, (October), pp. (46 6 -47 6), ISSN 03 64- 9059
Palmer, A., Hearn, G. E. & Stevenson, P. (2009). Experimental Testing of an Autonomous
Underwater Vehi...