ETD

Archivio digitale delle tesi discusse presso l'Università di Pisa

Tesi etd-06072010-124213


Tipo di tesi
Tesi di laurea specialistica
Autore
CAZZARO, DARIO
URN
etd-06072010-124213
Titolo
A differential geometric approach to path planning and control design for autonomous underwater vehicles
Dipartimento
INGEGNERIA
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Relatori
relatore Prof. Caiti, Andrea
Parole chiave
  • underwater vehicles
  • geometric control
  • path planning
Data inizio appello
08/07/2010
Consultabilità
Non consultabile
Data di rilascio
08/07/2050
Riassunto
This work focuses on the automatic generation of control inputs for the thrusters of Autonomous Underwater Vehicles, given a path to follow in six dimensions. The control strategy applied is model-driven and designed in a open-loop fashion, as most AUVs do not have reliable localization systems. This approach can be also extended in a closed-loop control scheme to improve robustness.
The inputs generating framework is designed using differential geometric control theory, which provides a singularity free description of the vehicle model. This approach has been tested in simulations, using both a fully actuated vehicle model and an underactuated one. The latter configuration could be the result of a thrusters failure, which the differential geometric approach is able to overcome. Experimental trials have been carried out in a controlled environment using a fully actuated vehicle.
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