Design, dynamics, and control of micro underwater vehicle systems for autonomous environmental exploration
Title Granting Institution
Technische Universität Hamburg-Harburg
Place of Title Granting Institution
Technische Universität Hamburg (2019)
This dissertation covers exploration and monitoring of environmental fields with micro underwater vehicles (μAUVs). The design of an underactuated μAUV is presented. Moreover, control concepts are introduced for trajectory tracking and path following. Two methods for underwater self-localization are presented, which are suitable for μAUVs. The first approach is based on time delays of arrival of acoustic signals. The second approach exploits attenuation of electro-magnetic signals in water. Lastly, an information theoretic control method is developed, which allows a fleet of μAUVs to explore environmental fields. The method combines stochastic optimal control with Gaussian Markov random fields.