Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

International Journal of Advanced Robotic Systems

关键词: Underwater Vehicles;    Behaviour-Based Control;    Neural Network;    Solar Unmanned Underwater Vehicles;   

DOI  :  10.5772/56029

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this paper, an intelligent navigation system for an unmanned underwater vehicle powered by renewable energy and designed for shadow water inspection in missions of a long duration is proposed. The system is composed of an underwater vehicle, which tows a surface vehicle. The surface vehicle is a small boat with photovoltaic panels, a methanol fuel cell and communication equipment, which provides energy and communication to the underwater vehicle. The underwater vehicle has sensors to monitor the underwater environment such as sidescan sonar and a video camera in a flexible configuration and sensors to measure the physical and chemical parameters of water quality on predefined paths for long distances. The underwater vehicle implements a biologically inspired neural architecture for autonomous intelligent navigation. Navigation is carried out by integrating a kinematic adaptive neuro-controller for trajectory tracking and an obstacle avoidance adaptive neuro- controller. The autonomous underwater vehicl...

【 授权许可】

CC BY