Controller design for underwater vehicle systems with communication constraints
Reed, Brooks L.
MetadataShow full item record
Real-time cooperation between autonomous vehicles can enable time-critical missions such as tracking and pursuit of a dynamic target or environmental feature, but relies on wireless communications. Underwater communication is almost exclusively accomplished through acoustics, which bring challenges such as delays, low data rates, packet loss, and scheduling constraints. To address these challenges, this thesis presents contributions towards multi-vehicle feedback control in the presence of severe communication constraints. The first major area of work considers the formulation and solution of new multi-vehicle tracking and pursuit problems using closed-loop control. We first describe field experiments in target pursuit at high tracking bandwidths in a challenging shallow-water environment. Next, we present a methodology for pursuit of dynamic ocean features such as fronts, which we validate using ocean model data. The primary innovation is a linearization of ocean model forecast dynamics and uncertainty directly in vehicle coordinates. The second area of work presents a unified formalism for multi-vehicle control and estimation with measurement, control, and acknowledgment packets all subject to scheduling, delays and packet loss. We develop a modular framework that includes a novel technique for estimation using delayed and lossy control acknowledgments. Simulations and field experiments demonstrate the effectiveness of our approach.
Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution February 2015
Suggested CitationThesis: Reed, Brooks L., "Controller design for underwater vehicle systems with communication constraints", 2015-02, DOI:10.1575/1912/7152, https://hdl.handle.net/1912/7152
Showing items related by title, author, creator and subject.
Lewis, Matthew R. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2014-09)Underwater acoustic communication is an extremely complex field that faces many challenges due to the time-varying nature of the ocean environment. Vector sensors are a proven technology that when utilizing their directional ...
VanMiddlesworth, Mark (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2014-02)Motivated by inspection of complex underwater environments, we have developed a system for multi-sensor SLAM utilizing both structured and unstructured environmental features. We present a system for deriving planar ...
Gorman, Geoffrey A. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2011-09)The ocean depths provide an ever changing and complex imaging environment. As scientists and researches strive to document and study more remote and optically challenging areas, specifically scatter-limited environments. ...