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Design and testing of navigation algorithm for shallow water autonomous underwater vehicle

Tsourveloudis Nikolaos

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URIhttp://purl.tuc.gr/dl/dias/BC597E9A-EAA5-466B-9D31-82F13B521F69-
Identifierhttps://doi.org/10.1109/OCEANS.1998.725764-
Languageen-
Extent5 pagesen
TitleDesign and testing of navigation algorithm for shallow water autonomous underwater vehicleen
CreatorTsourveloudis Nikolaosen
CreatorΤσουρβελουδης Νικολαοςel
PublisherIEEEen
Content SummaryA remotely operated underwater vehicle, the Phantom S2, is being converted to an autonomous underwater vehicle (AUV) for shallow water and coastal environments. As a part of this project, a three-layered fuzzy logic controller was developed and combined with a path planning algorithm to navigate the vehicle in dynamic environments. Simulated experiments have been created in a virtual testbed to test the developed controller prior to, and during real pool tests. The testbed utilizes a virtual model of the Phantom S2, which imitates the dynamic behavior of the actual vehicle in various environmental conditions. The vehicle's motion and behavior can be observed, recorded and used to fine tune the control variablesen
Type of ItemΠλήρης Δημοσίευση σε Συνέδριοel
Type of ItemConference Full Paperen
Licensehttp://creativecommons.org/licenses/by/4.0/en
Date of Item2015-10-08-
Date of Publication1998-
SubjectUnderwater vehicleen
SubjectNavigation, Underwateren
SubjectNavigation (Underwater)en
SubjectSubmarine navigationen
Subjectunderwater navigationen
Subjectnavigation underwateren
Subjectsubmarine navigationen
Bibliographic CitationN. C. Tsourveloudis , D. Gracanin, K. P. Valavanis, 'Design and testing of navigation algorithm for shallow water autonomous underwater vehicle', in i998 Proceedings IEEE OCEANS,pp.342 - 346.doi :10.1109/OCEANS.1998.725764en

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