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A hybrid control architecture development for the guidance, navigation and control of the tethra prototype submersible vehicle

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dc.contributor.advisor Toal, Daniel
dc.contributor.advisor Omerdić, Edin
dc.contributor.author Molnar, Levente
dc.date.accessioned 2016-08-30T14:35:33Z
dc.date.available 2016-08-30T14:35:33Z
dc.date.issued 2006
dc.identifier.uri http://hdl.handle.net/10344/5166
dc.description peer-reviewed en_US
dc.description.abstract The Mobile & Marine Robotics Research Centre (MMRRC) at the University of Limerick is developing a highly manoeuvrable AUV platform to address the challenges of highresolution seabed survey in both shallow and deep water. The work of the author in the development of a novel guidance, navigation and control (GNC) system for the Tethra AUV is described in the thesis. A full and comprehensive GNC system, with open architecture, has been designed, implemented and tested with many novel features. The main components of the control system include: Control Allocation, Virtual Joystick, Low-level controllers, Fuzzy controller for Obstacle Avoidance and Behaviour Coordinator/Arbitration. As result of the research and development of the author the Tethra AUV has been endowed with a comprehensively integrated Guidance Navigation and Control system, enabling the execution of full survey scale operations in challenging near seabed scenarios. en_US
dc.language.iso eng en_US
dc.publisher University of Limerick
dc.subject AUV en_US
dc.subject GNC en_US
dc.subject control allocation en_US
dc.subject virtual joystick en_US
dc.subject obstacle avoidance en_US
dc.subject guidance en_US
dc.subject navigation and control system en_US
dc.title A hybrid control architecture development for the guidance, navigation and control of the tethra prototype submersible vehicle en_US
dc.type info:eu-repo/semantics/doctoralThesis en_US
dc.type.supercollection all_ul_research en_US
dc.type.supercollection ul_published_reviewed en_US
dc.type.supercollection ul_theses_dissertations en_US
dc.rights.accessrights info:eu-repo/semantics/openAccess en_US


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