Model
Digital Document
Publisher
Florida Atlantic University
Description
There have been much technological advances and research in Unmanned Surface
Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned
Underwater Vehicles (AUV/UUV). Advantages include extending underwater search and
survey operations time and reach, improving underwater positioning and mission
awareness, in addition to minimizing the costs and risks associated with similar manned
vessel operations. The objective of this thesis is to present the design and development a
high-level fuzzy logic guidance controller for a WAM-V 14 USV in order to
autonomously launch and recover a REMUS 100 AUV. The approach to meeting this objective is to develop ability for the USV to intercept and rendezvous with an AUV that is in transit in order to maximize the probability of a final mobile docking maneuver. Specifically, a fuzzy logic Rendezvous Docking controller has been developed that generates Waypoint-Heading goals for the USV to minimize the cross-track errors between the USV and AUV. A subsequent fuzzy
logic Waypoint-Heading controller has been developed to provide the desired heading
and speed commands to the low-level controller given the Waypoint-Heading goals.
High-level mission control has been extensively simulated using Matlab and partially
characterized in real-time during testing. Detailed simulation, experimental results and
findings will be reported in this paper.
Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned
Underwater Vehicles (AUV/UUV). Advantages include extending underwater search and
survey operations time and reach, improving underwater positioning and mission
awareness, in addition to minimizing the costs and risks associated with similar manned
vessel operations. The objective of this thesis is to present the design and development a
high-level fuzzy logic guidance controller for a WAM-V 14 USV in order to
autonomously launch and recover a REMUS 100 AUV. The approach to meeting this objective is to develop ability for the USV to intercept and rendezvous with an AUV that is in transit in order to maximize the probability of a final mobile docking maneuver. Specifically, a fuzzy logic Rendezvous Docking controller has been developed that generates Waypoint-Heading goals for the USV to minimize the cross-track errors between the USV and AUV. A subsequent fuzzy
logic Waypoint-Heading controller has been developed to provide the desired heading
and speed commands to the low-level controller given the Waypoint-Heading goals.
High-level mission control has been extensively simulated using Matlab and partially
characterized in real-time during testing. Detailed simulation, experimental results and
findings will be reported in this paper.
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