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Controlled drift: an investigation into the controllability of underwater vehicles with minimal actuation

Smith, Ryan N. & Dunbabin, Matthew (2011) Controlled drift: an investigation into the controllability of underwater vehicles with minimal actuation. In Drummond, Tom (Ed.) Proceedings of the Australasian Conference on Robotics and Automation 2011, Australian Robotics & Automation Association, Monash University, Melbourne, VIC, pp. 1-10.

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Abstract

This paper is directed towards providing an answer to the question, ”Can you control the trajectory of a Lagrangian float?” Being a float that has minimal actuation (only buoyancy control), their horizontal trajectory is dictated through drifting with ocean currents. However, with the appropriate vertical actuation and utilising spatio-temporal variations in water speed and direction, we show here that broad controllabilty results can be met such as waypoint following to keep a float inside of a bay or out of a designated region. This paper extends theory experimen- tally evaluted on horizontally actuated Autonomous Underwater Vehicles (AUVs) for trajectory control utilising ocean forecast models and presents an initial investi- gation into the controllability of these minimally actuated drifting AUVs. Simulated results for offshore coastal and within highly dynamic tidal bays illustrate two tech- niques with the promise for an affirmative answer to the posed question above.

Impact and interest:

4 citations in Scopus
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90 since deposited on 24 Jan 2012
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ID Code: 48216
Item Type: Conference Paper
Keywords: Autonomous underwater vehicle , Ocean engineering, Physical oceanography, Oceanography, Ocean modelling
Subjects: Australian and New Zealand Standard Research Classification > EARTH SCIENCES (040000) > OCEANOGRAPHY (040500) > Physical Oceanography (040503)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Ocean Engineering (091103)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100) > Special Vehicles (091106)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2011 Please consult the author(s)
Deposited On: 24 Jan 2012 14:54
Last Modified: 23 Oct 2013 16:12

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