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Modeling and Control of Underwater Robots

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Springer Handbook of Robotics

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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.

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Abbreviations

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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Author information

Authors and Affiliations

  1. Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Via G. Di Biasio 43, 03043, Cassino, Italy

    Gianluca Antonelli

  2. Department of Engineering Cyberentics, Norwegian University of Science and Technology, O.S. Bragstads plass 2D, 7491, Trondheim, Norway

    Thor I. Fossen

  3. Applied Ocean Physics & Engineering, Woods Hole Oceanographic Institution, 266 Woods Hole Road, MA 02543-1050, Woods Hole, USA

    Dana R. Yoerger

Authors
  1. Gianluca Antonelli
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  2. Thor I. Fossen
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  3. Dana R. Yoerger
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Corresponding author

Correspondence to Gianluca Antonelli .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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Dive with REMUS available from http://handbookofrobotics.org/view-chapter/51/videodetails/87

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Underwater vehicle Nereus available from http://handbookofrobotics.org/view-chapter/51/videodetails/88

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Mariana Trench: HROV Nereus samples the Challenger Deep seafloor available from http://handbookofrobotics.org/view-chapter/51/videodetails/89

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REMUS SharkCam: The hunter and the hunted available from http://handbookofrobotics.org/view-chapter/51/videodetails/90

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The Icebot available from http://handbookofrobotics.org/view-chapter/51/videodetails/92

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Two underwater Folaga vehicles patrolling a 3-D area available from http://handbookofrobotics.org/view-chapter/51/videodetails/94

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Adaptive L1 depth control of a ROV available from http://handbookofrobotics.org/view-chapter/51/videodetails/267

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Saturation based nonlinear depth and yaw control of an underwater vehicle available from http://handbookofrobotics.org/view-chapter/51/videodetails/268

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Multi-vehicle bathymetry mission available from http://handbookofrobotics.org/view-chapter/51/videodetails/323

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Neptus command and control infrastructure available from http://handbookofrobotics.org/view-chapter/51/videodetails/324

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Antonelli, G., Fossen, T.I., Yoerger, D.R. (2016). Modeling and Control of Underwater Robots. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_51

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