http://www.cnr.it/ontology/cnr/individuo/prodotto/ID169852
Sonar-based guidance of unmanned underwater vehicles (Articolo in rivista)
- Type
- Label
- Sonar-based guidance of unmanned underwater vehicles (Articolo in rivista) (literal)
- Anno
- 2001-01-01T00:00:00+01:00 (literal)
- Alternative label
- Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#autori
- Caccia M., Bruzzone G., Veruggio G. (literal)
- Pagina inizio
- Pagina fine
- Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#numeroVolume
- Rivista
- Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#note
- Special issue of Advanced Robotics on Recent Advance in Underwater Robotics: theory and technology (literal)
- Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#descrizioneSinteticaDelProdotto
- pubblicazione su rivista internazionale (literal)
- Note
- ISI Web of Science (WOS) (literal)
- Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#affiliazioni
- Titolo
- Sonar-based guidance of unmanned underwater vehicles (literal)
- Abstract
- This paper addresses the problem of the design and coordination of guidance and sonar-based motion estimation algorithms for unmanned underwater vehicles. In the framework of a two layered hierarchical architecture uncoupling the system's dynamics and kinematics, a couple of guidance laws for approaching a target with the desired orientation and following an environmental feature have been designed with Lyapunov-based techniques. Suitable acoustic-based estimators of the corresponding operational variables have been designed and integrated with the guidance and control system. A finite state machine combined with a suitable interface for event generation allows the coordinated execution of basic guidance and motion estimation tasks to carry out more complex functions. Experimental results of pool trials of a prototype UUV executing free-space maneuvering, wall-following tasks, and the more complex mission of following the perimeter of the trial pool are reported and discussed. (literal)
- Prodotto di
- Autore CNR
- Insieme di parole chiave
Incoming links:
- Prodotto
- Autore CNR di
- Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#rivistaDi
- Insieme di parole chiave di