Title :
A graphic simulator for autonomous underwater vehicle docking operations
Author :
Feng, Xiangming ; Qiu, Bob ; Yun, David Y Y
Author_Institution :
Dept. of Electr. Eng., Hawaii Univ., Honolulu, HI, USA
Abstract :
The performance of the control module in an autonomous underwater vehicle (AUV) is critical to the success of vehicle missions. However, testing such a control unit in-situ is usually very costly and risky. A graphic simulator based on X-window for an AUV docking process has been developed. Based on a 1-dimensional physical model of a low-speed underwater marine vehicle and a radial basis function (RBF) neural network (NN) as the control unit, the simulator provides an experimental platform for developing, training and testing of AUV controllers in a safe, economic and reliable way. Through its use, the feasibility and effectiveness of a NN-based control module (for the vehicle borehole docking project funded by NSF and in cooperation with IFREMER) have been successfully demonstrated
Keywords :
computerised navigation; control engineering; engineering graphics; marine systems; mobile robots; path planning; simulation; 1-dimensional physical model; X-window; autonomous underwater vehicle docking operations; control module; experimental platform; graphic simulator; low-speed underwater marine vehicle; radial basis function neural network; Aerospace control; Aircraft; Communication system control; Graphics; Hydrodynamics; Mobile robots; Neural networks; Remotely operated vehicles; Testing; Underwater vehicles;
Conference_Titel :
OCEANS '94. 'Oceans Engineering for Today's Technology and Tomorrow's Preservation.' Proceedings
Conference_Location :
Brest
Print_ISBN :
0-7803-2056-5
DOI :
10.1109/OCEANS.1994.363886
