Navigation and Control of Autonomous Marine Vehicles/Навигация и управление автономными морскими транспортными средствами

Книга на английском языке
Recent years have witnessed a rapid development of control, communication, sensor and computing technologies and their successful applications in many real-world problems including control and navigation of unmanned vehicles. The aforesaid technological advances have led to development of autonomous vehicles that operate autonomously which can drive of their own without necessitating human intervention or supervision. With the advance of technologies, increasing attention is being given to the research on unmanned vehicles operating in different environmental domains including land (unmanned ground vehicle (UGV)), aerospace (unmanned aerial vehicle (UAV)) and sea (Autonomous underwater vehicle (AUV) and unmanned surface vehicle (USV)). It is however interesting to see that despite the equal importance for the development of all types of vehicles, technologies developed for marine vehicles, especially for USV, are less mature than that of other vehicles, which is in part due to the reasons of complexity of the environment i.e. marine vehicles operate at the interface of two fluid systems. Ocean covers about two-thirds of the earth. It has a great effect on the future existence of all human beings. Marine robotic vehicles including unmanned surface vehicles (USVs) and unmanned underwater vehicles (UUVs) can help us better understand marine and other environmental issues, protect the ocean resources of the earth from pollution, and efficiently utilize them for human welfare.
However, there are lot issues involved for navigation, control and communication of these vehicles. This book covers different aspects of recent advances on navigation and control of marine vehicles.

Contents
Preface
1 Modelling and control of autonomous marine vehicles
Yuanchang Liu and Richard Bucknall
Abstract
1.1 Introduction
1.2 Mathematical modelling of autonomous marine vehicles
1.3 Intelligent path planning and control of autonomous marine vehicles
1.4 Conclusion
References
2 Efficient optimal path planning of unmanned surface vehicles
Yogang Singh, Sanjay Sharma, Robert Sutton, Daniel Hatton, and Asiya Khan
Abstract
2.1 Introduction
2.2 Methodology overview
2.3 Simulation results
2.4 Conclusions
References
3 Collision avoidance of maritime vessels
Wasif Naeem, Sable Campbell de Oliveira Henrique, and Mamun Abu-Tair
Abstract
3.1 Introduction
3.2 COLREGs
3.3 APFs
3.4 Collision risk assessment
3.5 COLREGs decision maker
3.6 COLREGs zones for APF adaptation
3.7 Simulation results
3.8 Discussion and concluding remarks
Acknowledgement
References
4 Sliding mode control for path planning guidance of marine vehicles
Shashi Ranjan Kumar, Ashwini Ratnoo, and Debasish Ghose
Abstract
4.1 Introduction
4.2 Problem statement
4.3 Design of impact angle guidance
4.4 Application of guidance scheme to underwater vehicles
4.5 Simulation results
4.5.1 Implementation of guidance law with closed-loop feedback
4.5.2 Implementation of guidance law in open loop
4.6 Conclusions and future work
References
5 Experimentally based analysis of low altitude terrain following by autonomous underwater vehicles
Sophia M. Schillai, Alexander B. Phillips, Eric Rogers, and Stephen R. Turnock
Abstract
5.1 Introduction
5.2 Background
5.3 Current terrain following strategies
5.4 Terrain following with Delphin2
5.5 Testwood lake experiment set-up
5.6 Results
5.7 Conclusion
References
6 Nonlinear H control of autonomous underwater vehicles
Subhasish Mahapatra and Bidyadhar Subudhi
Abstract
6.1 Introduction
6.2 Preliminaries
6.3 Modeling of AUV
6.4 Development of nonlinear control algorithm
6.5 Analysis of nonlinear H controller
6.6 Path following control
6.7 Concluding remarks
References
7 Energy optimal real-time trajectory re-planning of an uninhabited surface vehicle in a dynamically changing environment
Haibin Huang, Yufei Zhuang, and Sanjay Sharma
Abstract
7.1 Introduction
7.2 Mathematics representation
7.3 Trajectory planning using pseudospectral method
7.4 Optimization using particle swarm optimization
7.5 Re-planning strategy
7.6 Simulation results
7.7 Conclusion
Acknowledgments
References
8 Cooperative path-following control with logic-based communications: theory and practice
Francisco C. Rego, Nguyen T. Hung, Colin N. Jones, Antуnio M. Pascoal, and Antуnio Pedro Aguiar
Abstract
8.1 Introduction
8.2 Cooperative path-following control system architecture
8.3 Problem statement
8.4 Controller design: CPF for multiple AMVs
8.5 Field tests with AMVs
8.6 Conclusions
Acknowledgements
Appendix A
References
9 Formation control of autonomous marine vehicles
Basant Kumar Sahu, Bidyadhar Subudhi, and Sanjay Kumar Sharma
Abstract
9.1 Introduction
9.2 Classification of formation control techniques
9.3 Coordination strategies of autonomous vehicles
9.4 Formation control strategies
9.5 Communication issues in formation of multiple vehicles
9.6 Formation control sub-problems
9.7 Conclusions
References
10 Hydro-acoustic communications and networking in contemporary underwater robotics: instruments and case studies
Konstantin Kebkal, Oleksiy Kebkal, Veronika Kebkal, Ievgenii Glushko, Antonio Pascoal, Miguel Ribeiro, Manuel Rufino, Luis Sebastiгo, Giovanni Indiveri, Lorenzo Pollini, and Enrico Simetti
Abstract
10.1 Introduction
10.2 The S2C modem of Evologics as a platform for specialized user applications
10.3 Architecture of the software framework EviNS
10.4 Case studies
Acknowledgements
References
11 Commercial applications of ASVs
Dan Hook
Abstract
11.1 Introduction
11.2 Defence applications
11.3 Scientific applications overview
11.4 Technology overview
11.5 ASV types
11.6 Industrial applications
11.7 Conclusion
Index