Modeling and Implementation of a Special UUV Platform Control System For Littoral and Confined-Space Operations

reportActive / Technical Report | Accesssion Number: AD1224615 | Open PDF

Abstract:

Unmanned underwater vehicles (UUVs) offer a unique opportunity to safely explore areas too dangerous for human divers. The purpose of this research is to model and implement a robust closed-loop control method for the Wreck Interior Exploration Vehicle (WIEVLE), a novel UUV conceptualized, built, and tested exclusively on the Naval Postgraduate School campus. This work builds on previous open-loop testing and experimentation by a capstone Systems Engineering team of students in 2020. Expanding on their work, a MATLAB/Simulink simulation was created to test the proposed control scheme. To validate computer modeling results, the Pixhawk drone autopilot feasibility was tested as a commercial off the shelf solution for control. Due to the constraints of the autopilot, it was deemed infeasible for use in this application. We suggest as future work another approach that was unable to be implemented prior to release.

Author(s):
Coleman, Matthew J.
Author Organization(s):
NAVAL POSTGRADUATE SCHOOL MONTEREY CA
Funding Organization(s):
NAVAL POSTGRADUATE SCHOOL MONTEREY CA, MONTEREY, CA
Document Type:
Technical Report/Master's Thesis
Publication Date:
2023 Sep 01
Pagination:
94

Security Markings

DOCUMENT & CONTEXTUAL SUMMARY

Distribution Code:
A - Approved For Public Release
Distribution Statement: Public Release.
Copyright: Not Copyrighted

RECORD

Collection: TRECMS
Subject Terms
Keyword(s):
AUTONOMOUS CONTROL CAPABILITY, AUV(autonomous undersea vehicle), UUV(unmanned undersea vehicle), WIEVLE(Wreck Interior Exploration Vehicle), modeling, spherical, Pixhawk, RADIO FREQUENCY COMMUNICATIONS
Subject Categories:
Test Equipment, Research Facilities and Reprography; Test Equipment, Research Facilities and Reprography; Test Equipment, Research Facilities and Reprography
Creation Date:
2024 Mar 28
Update Date:
2024 Mar 29