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Design, dynamics, and control of micro underwater vehicle systems for autonomous environmental exploration
Citation Link: https://doi.org/10.15480/882.1948
Publikationstyp
Doctoral Thesis
Date Issued
2019
Sprache
English
Author(s)
Advisor
Referee
Ackermann, Günter
Title Granting Institution
Technische Universität Hamburg-Harburg
Place of Title Granting Institution
Hamburg
Examination Date
2018-01-04
Institut
TORE-DOI
Citation
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.
Subjects
Robotics
Localization
Underwater vehicles
Machine learning
Controls
DDC Class
600: Technik
More Funding Information
Deutsche Forschungsgemeinschaft (DFG)
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Diss_ES.pdf
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Adobe PDF