NDLI: Autonomous control and simulation of the VideoRay Pro III vehicle using MOOS and IvP Helm

Content Provider	IEEE Xplore Digital Library
Author	Spears, A. West, M. Collins, T.
Copyright Year	2013
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA (Spears, A.) \|\| Electron. Syst. Lab. (ELSYS), Georgia Tech Res. Inst., Atlanta, GA, USA (West, M.; Collins, T.)
Abstract	Most underwater vehicles are controlled by human operators through tethered cables which inhibit range and affect the hydrodynamics. The overall performance of these promising vehicles would improve through the employment of higher levels of autonomy. Implementation of open source autonomous guidance software in an off the shelf underwater vehicle is explored here as a solution. Development and implementation of this autonomous guidance and vehicle control is greatly facilitated through the use of an accurate vehicle simulator. Running real world tests of an underwater vehicle is extremely time intensive and error prone. The analysis of the vehicle performance underwater is extremely challenging with limited accurate positioning sensing e.g. GPS. A vehicle simulator allows for faster development of the system by providing vehicle performance information prior to expensive real world missions. This research presents a method for simulation and testing of autonomous guidance and control in a vehicle accurate simulator for the VideoRay Pro III underwater vehicle and demonstrates the capability through simulated examples and analysis.
Sponsorship	IEEE Oceanic Eng. Soc.
Starting Page	1
Ending Page	10
File Size	1563993
Page Count	10
File Format	PDF
ISBN	9780933957404
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-09-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Vehicles Mathematical model Equations Vehicle dynamics Vectors Underwater vehicles Hydrodynamics VideoRay UUV AUV MOOS IvP PID controller guidance control unmanned simulation hydrodynamics thruster kinematics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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