Supervisory control of an autonomous underwater vehicle using an acoustic communication link
Name
47046398-MIT.pdf
Description
Full printable version
Size
5.11 MB
Format
Adobe PDF
Checksum (MD5)
d0cd63ecb028f85daa590369f4d375fd
Author(s)
Kreamer, William Ryan, 1976-
Advisor(s)
James G. Bellingham.
Date Issued
2000
Publisher
Massachusetts Institute of Technology
Abstract
In this thesis, I designed and tested a supervisory control scheme for the Odyssey II-class Autonomous Underwater Vehicles that relies on a very-low-data-rate acoustic communication link. A human supervisor communicates with the AUV over a combination radio/acoustic network. The supervisor radios commands from shore to data repeater nodes moored at strategic locations on the ocean surface. Utility Acoustic Modems mounted on the moorings rebroadcast the binary data into the sea in the 12-17 kHz frequency band. The moving AUV detects the transmission, decodes the message, and carries out the command contained within. The operator's commands are implemented in the context of a behavior-based layered control software architecture. The supervisory control scheme was tested and verified during the Synaptic Internal Tide Experiment, which took place in Monterey Bay during August and September, 1999.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 2000.
Includes bibliographical references (leaves 84-86).
Subjects
Ocean Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Ocean Engineering
Terms of Use
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