رسالة جامعية
Guidance and control of autonomous underwater agents with acoustically aided navigation ; Vođenje i upravljanje autonomnim podvodnim agentima uz akustički potpomognutu navigaciju
| العنوان: | Guidance and control of autonomous underwater agents with acoustically aided navigation ; Vođenje i upravljanje autonomnim podvodnim agentima uz akustički potpomognutu navigaciju |
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| المؤلفون: | Nađ, Đula |
| المساهمون: | Mišković, Nikola |
| بيانات النشر: | Sveučilište u Zagrebu. Fakultet elektrotehnike i računarstva. Zavod za automatiku i računalno inženjerstvo. University of Zagreb. Faculty of Electrical Engineering and Computing. Department of Control and Computer Engineering. |
| سنة النشر: | 2017 |
| المجموعة: | Nacionalni repozitorij disertacija i znanstvenih magistarskih radova (Nacionalna i sveučilišna knjižnica u Zagrebu) / Croatian Digital Dissertations Repository (National and University Library in Zagreb) |
| مصطلحات موضوعية: | unmanned underwater vehicles, human-robot interaction, navigation, guidance and control of underwater vehicles, diver tracking, bespilotna podvodna vozila, interakcija čovjek-robot, navigacija, vođenje i upravljanje podvodnim vozilima, praćenje ronioca, TEHNIČKE ZNANOSTI. Elektrotehnika. Automatizacija i robotika, TECHNICAL SCIENCES. Electrical Engineering. Automation and Robotics, Elektrotehnika, Electrical engineering, info:eu-repo/classification/udc/621.3(043.3) |
| الوصف: | The thesis research focuses on navigation, guidance, control infrastructures and methodologies required for cooperative control of underwater vehicles. A toolset is proposed for navigation, guidance, and control of marine vessels, adapting to different vessels and sensor suites, enabling integration of delayed and asynchronous measurements from local and remote sensor sources. The toolset is applied to remote sonar based localization of small unmanned underwater vehicles. This concept is further combined with path following and target tracking algorithms, resulting in a diver tracking and localization aiding system of systems. A modified path stabilization controller is presented, capable of safe movement around and with the diver. It implements diver monitoring and tracking functionalities, and, combined with absolute positioning, a diver guidance feature is available. The thesis proposes an incremental experiment design methodology aimed at reducing development time and improving reproducibility. This methodology is used for design of final benchmark experiments for the proposed diver tracking and guidance systems. Results are presented from simulation incremental up to field results with real divers. Developed algorithms and methodologies define the three thesis contributions as: 1. System for navigation, guidance and control of marine vessels enabling integration of delayed and asynchronous measurements from stationary or mobile sensor sources, 2. Algorithm for cooperative control of underwater agents with seamless switching between diver guidance and tracking tasks, 3. Methodology for incremental and reproducible development, integration, validation and uncertainty evaluation for systems of systems. ; Doktorski rad predlaže skup alata za navigaciju, vođenje i upravljanje plovilima prilagodljiv različitim vrstama plovila i senzora. Razvijeni alati primijenjeni su na daljinski potpomognutu lokalizaciju malih podvodnih vozila pomoću sonara. Nadalje, koncept potpomognute navigacije kombiniran je s algoritmima ... |
| نوع الوثيقة: | doctoral or postdoctoral thesis |
| وصف الملف: | application/pdf |
| اللغة: | English |
| العلاقة: | https://dr.nsk.hr/islandora/object/fer:4822Test; https://urn.nsk.hr/urn:nbn:hr:168:495794Test; https://repozitorij.unizg.hr/islandora/object/fer:4822Test; https://repozitorij.unizg.hr/islandora/object/fer:4822/datastream/PDFTest |
| الإتاحة: | https://dr.nsk.hr/islandora/object/fer:4822Test https://urn.nsk.hr/urn:nbn:hr:168:495794Test https://repozitorij.unizg.hr/islandora/object/fer:4822Test https://repozitorij.unizg.hr/islandora/object/fer:4822/datastream/PDFTest |
| حقوق: | http://rightsstatements.org/vocab/InC/1.0Test/ ; info:eu-repo/semantics/closedAccess |
| رقم الانضمام: | edsbas.BC64529E |
| قاعدة البيانات: | BASE |
| الوصف غير متاح. |