Active sonar-based bottom following for unmanned underwater vehicles (Articolo in rivista)

Type

• Prodotto della ricerca (Classe)
• Articolo in rivista (Classe)

Label

• Active sonar-based bottom following for unmanned underwater vehicles (Articolo in rivista) (literal)

Anno

• 1999-01-01T00:00:00+01:00 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#doi

• 10.1016/S0967-0661(98)00168-3 (literal)

Alternative label

• Caccia M.; Bruzzone G.; Veruggio G. (1999)
  Active sonar-based bottom following for unmanned underwater vehicles
  in Control engineering practice; Elsevier Science Ltd, Exeter (Regno Unito)
  (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#autori

• Caccia M.; Bruzzone G.; Veruggio G. (literal)

Pagina inizio

• 459 (literal)

Pagina fine

• 468 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#numeroVolume

• 7 (literal)

Rivista

• Control engineering practice (Rivista)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#pagineTotali

• 10 (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#numeroFascicolo

• 4 (literal)

Note

• ISI Web of Science (WOS) (literal)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#affiliazioni

• CNR-ISSIA CNR-IIEIT (literal)

Titolo

• Active sonar-based bottom following for unmanned underwater vehicles (literal)

Abstract

• The problem of high-precision bottom-following in the proximity of the seabed for open-frame unmanned underwater vehicles (UUVs) is addressed in this paper. The suggested approach consists of the integration of a guidance and control system with an active multi-hypothesis extended Kalman filter, able to estimate the motion of the vehicle with respect to the bottom profile. The guidance module is based on the definition of a suitable Lyapunov function associated with the bottom-following task, while the motion controller is a conventional autopilot, performing autoheading, autodepth, and autospeed. The motion of the vehicle is estimated from range and bearing measurements supplied by a high-frequency pencil-beam profiling sonar. Moreover, a general-purpose sensor-based guidance and control system for advanced UUVs, able to manage active sensing-based guidance and motion estimation modules, is presented. An application of the proposed architecture to execute high-precision bottom-following using Romeo, a prototype UUV, developed by the Robotics Dept. of the Istituto Automazione Navale, is described. Experimental results of tests, conducted in a high-diving pool with the vehicle equipped with a sonar profiler, are presented. (literal)

Editore

• Elsevier Science Ltd (Editore)

Prodotto di

• Institute of intelligent systems for automation (ISSIA) (Istituto)
• Istituto di elettronica e di ingegneria dell'informazione e delle telecomunicazioni (IEIIT) (Istituto)
• Sistemi robotici autonomi e controllo (SP.P03.003.001) (Modulo)

Autore CNR

• GABRIELE BRUZZONE (Unità di personale interno)
• MASSIMO CACCIA (Persona)
• GIANMARCO VERUGGIO (Persona)

Insieme di parole chiave

• Parole chiave di "Active sonar-based bottom following for unmanned underwater vehicles" (Insieme di parole chiave)

Incoming links:

Prodotto

• Institute of intelligent systems for automation (ISSIA) (Istituto)
• Istituto di elettronica e di ingegneria dell'informazione e delle telecomunicazioni (IEIIT) (Istituto)
• Sistemi robotici autonomi e controllo (SP.P03.003.001) (Modulo)

Autore CNR di

• GIANMARCO VERUGGIO (Persona)
• GABRIELE BRUZZONE (Unità di personale interno)
• MASSIMO CACCIA (Persona)

Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#rivistaDi

• Control engineering practice (Rivista)

Editore di

• Elsevier Science Ltd (Editore)

Insieme di parole chiave di

• Parole chiave di "Active sonar-based bottom following for unmanned underwater vehicles" (Insieme di parole chiave)