Underwater Environment SDAP Method Using Multi Single-Beam Sonars
Joint Authors
Yan, Zheping
Chi, Dongnan
Hou, Shuping
Zheng, Yalin
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-05
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
A new autopilot system for unmanned underwater vehicle (UUV) using multi-single-beam sonars is proposed for environmental exploration.
The proposed autopilot system is known as simultaneous detection and patrolling (SDAP), which addresses two fundamental challenges: autonomous guidance and control.
Autonomous guidance, autonomous path planning, and target tracking are based on the desired reference path which is reconstructed from the sonar data collected from the environmental contour with the predefined safety distance.
The reference path is first estimated by using a support vector clustering inertia method and then refined by Bézier curves in order to satisfy the inertia property of the UUV.
Differential geometry feedback linearization method is used to guide the vehicle entering into the predefined path while finite predictive stable inversion control algorithm is employed for autonomous target approaching.
The experimental results from sea trials have demonstrated that the proposed system can provide satisfactory performance implying its great potential for future underwater exploration tasks.
American Psychological Association (APA)
Yan, Zheping& Chi, Dongnan& Hou, Shuping& Zheng, Yalin. 2013. Underwater Environment SDAP Method Using Multi Single-Beam Sonars. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-17.
https://search.emarefa.net/detail/BIM-1032114
Modern Language Association (MLA)
Yan, Zheping…[et al.]. Underwater Environment SDAP Method Using Multi Single-Beam Sonars. Mathematical Problems in Engineering No. 2013 (2013), pp.1-17.
https://search.emarefa.net/detail/BIM-1032114
American Medical Association (AMA)
Yan, Zheping& Chi, Dongnan& Hou, Shuping& Zheng, Yalin. Underwater Environment SDAP Method Using Multi Single-Beam Sonars. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-17.
https://search.emarefa.net/detail/BIM-1032114
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1032114