[show abstract][hide abstract] ABSTRACT: Among all existing computational architecture adopted for controlling the behavior of Autonomous Underwater Vehicles (AUVs), the combined deliberative-reactive methodology is the most effective and significant approach towards behavioral control of the vehicle. Much work has been put into it and is available with literature. However, little work has been done in the scope of modeling the system with a view towards simulating and analyzing the dynamic behavior of the system as governed by the hybrid control architecture. This attempt is quite significant at the design stage, wherein fault-diagnosis can be easily done and rectified for. The aim of this paper is to present such a model for the adopted architecture and simulate the dynamic behavior of the system. Discussion regarding the logical organization and integrity between various modules has been presented, including abstraction between device layer and the controlling sub-systems. Overall dynamic behavior of the system has been realized through a hybrid finite system machine (FSM), thereby exhibiting the essential combination between a continuous reactive layer and discrete event-based deliberative sub-system. The required modeling of FSM and control-subsystems has been done with Stateflow/Simulink from Matlab.
[show abstract][hide abstract] ABSTRACT: This paper presents a simulation of Fuzzy Logic based mobile robot. The wheeled robot can navigate avoiding static or moving obstacles in an unstructured environment.. The mobile robot is configured as a client in a client-server network. A Fuzzy Logic Controller [FLC] processes the environmental data acquired by the sensors and makes decision about the path to be followed by the robot for safe navigation. The system has been tested by simulation and a prototype of the robotic system is being developed in the laboratory.
National Conference on Advanced Manufacturing & Robotics, Durgapur, India; 01/2004
[show abstract][hide abstract] ABSTRACT: In view of their operational ease, autonomous underwater vehicles (AUVs) find wide applications in different sub-sea operations, and the range encompasses bathymetry, seabed mapping, collection of marine data as well as strategic and commercial applications like underwater surveillance and reconnaissance, recovery and monitoring of submerged installations. A modular shallow water AUV having five degrees of freedom—christened AUV-150—has been designed and developed by CSIR-CMERI, Durgapur, India for operating up to a depth of 150 m. A fully functional AUV has been tested at various conditions in accordance to test protocols. This paper relates to the developmental issues, the hurdles faced during various phases of development of the AUV-150 and discusses the experimental results obtained during trials of the AUV in lake and sea.
Journal of The Institution of Engineers (India): Series C. 93(3).