Modeling and Control of Underwater Robots

  • Gianluca Antonelli
  • Thor I. Fossen
  • Dana R. Yoerger

Abstract

This chapter deals with modeling and control of underwater robots. First, a brief introduction showing the constantly expanding role of marine robotics in oceanic engineering is given; this section also contains some historical backgrounds. Most of the following sections strongly overlap with the corresponding chapters presented in this handbook; hence, to avoid useless repetitions, only those aspects peculiar to the underwater environment are discussed, assuming that the reader is already familiar with concepts such as fault detection systems when discussing the corresponding underwater implementation. The modeling section is presented by focusing on a coefficient-based approach capturing the most relevant underwater dynamic effects. Two sections dealing with the description of the sensor and the actuating systems are then given. Autonomous underwater vehicles require the implementation of mission control system as well as guidance and control algorithms. Underwater localization is also discussed. Underwater manipulation is then briefly approached. Fault detection and fault tolerance, together with the coordination control of multiple underwater vehicles, conclude the theoretical part of the chapter. Two final sections, reporting some successful applications and discussing future perspectives, conclude the chapter. The reader is referred to Chap. 25 for the design issues.

ASAP

adaptive sampling and prediction

AUV

autonomous underwater vehicle

CDOM

colored dissolved organic matter

CG

center of gravity

CML

concurrent mapping and localization

CSSF

Canadian Scientific Submersile Facility

DOF

degree of freedom

DVL

Doppler velocity log

GLS

global navigation satellite system

GNC

guidance, navigation, and control

GPS

global positioning system

GUI

graphical user interface

HW/SW

hardware/software

IFREMER

Institut français de recherche pour l’exploitation de la mer

IMU

inertial measurement unit

IST

Instituto Superior Técnico

JAMSTEC

Japan Marine Science and Technology Center

LBL

long-baseline system

MARUM

Zentrum für Marine Umweltwissenschaften

MBARI

Monterey Bay Aquarium Research Institute

MCS

mission control system

MOOS

motion-oriented operating system

NOC

National Oceanography Centre

NPS

Naval Postgraduate School

ODE

ordinary differential equation

PID

proportional–integral–derivative

ROV

remotely operated vehicle

SBL

short baseline

SISO

single input single-output

SLAM

simultaneous localization and mapping

SNAME

society of naval architects and marine engineer

USBL

ultrashort-baseline

UUV

unmanned underwater vehicle

UVMS

underwater vehicle manipulator system

WHOI

Woods Hole Oceanographic Institution

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Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  • Gianluca Antonelli
    • 1
  • Thor I. Fossen
    • 2
  • Dana R. Yoerger
    • 3
  1. 1.Department of Electrical and Information EngineeringUniversity of Cassino and Southern LazioCassinoItaly
  2. 2.Department of Engineering CyberenticsNorwegian University of Science and TechnologyTrondheimNorway
  3. 3.Applied Ocean Physics & EngineeringWoods Hole Oceanographic InstitutionWoods HoleUSA

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