Learn More
sensors to derive a vehicle position/orientation estimate. This paper describes hardware and software design and testing results of the SANS. It is shown that results from tilt table testing and bench testing provide an effective means for tuning filter gains. Ground vehicle testing verifies the overall functioning of the SANS and exhibits an encouraging(More)
This paper provides an overview of the Naval Postgraduate School ARIES autonomous underwater vehicle and its control and navigation performance. An attempt is made to highlight its current operational capabilities and provide a description of future enhancements for greater mission utility and flexibility. An overview of the vehicle design along with(More)
An important capability for Autonomous Underwater Vehicles (AUVs) is station keeping. Station keeping is the ability of a vehicle to maintain position and orientation with regard to a reference object. In shallow water this mission most likely will be disrupted by the large wave induced hydrodynamic forces acting on the vehicle. To counter this problem,(More)
This paper proposes the use of Prolog as a rule based specification language for the coordination of multiple control functions as required to perform missions with autonomous underwater vehicles. We first define terms used in this type of control system and show that such systems fall into the class of 'Hybrid' controllers coupling discrete state / time(More)
This paper provides an overview of the Naval Postgraduate School ARIES autonomous underwater vehicle. An attempt is made to highlight its' current operational capabilities and provide a description of future enhancements for greater mission utility and flexibility. An overview of the vehicle design along with descriptions of all major hardware components(More)