Na spor. nasl. str. naslov na hrv. jeziku: Vođenje formacija autonomnih bespilotnih ronilica primjenom metode virtualnih potencijala : doktorski rad

Bibliografija: 220-229 str. - Sažetak na eng. i hrv. jeziku. - Životopis

SAŽETAK: Disertacija opisuje metodu decentraliziranog koordiniranog upravljanja autonomnim bespilotnim ronilicama zasnovanu na virtualnim potencijalima. Predložena metoda seže kroz više klasičnih upravljačkih razina i postiže nekoliko bitnih ciljeva: (i) stabilno i efikasno navođenje na cilj, (ii) izbjegavanje sudara, (iii) održavanje formacije. U disertaciji su uporabljena dva realistična dinamička modela ronilica – krstareća ronilica i ona s nezavisnim okomitim zaranjanjem. Za estimaciju stanja korišten je Kalmanov filtar bez predrasuda sa sigma-točkama. Predložen je i raspravljen komunikacijski protokol koji osigurava pravilno održavanje formacije. Prikazane su robustnost i stabilnost predložene metode, kao i efikasno korištenje resursa za navođenje na zadani cilj uz održavanje formacije. - KLJUČNE RIJEČI: bespilotna plovila, bespilotne ronilice, decentralizirano upravljanje, koordinirano upravljanje, navigacija, vođenje i upravljanje plovila, virtualni potencijali, rotorska vektorska polja, izbjegavanje lokalnih minimuma, upravljanje formacijama

ABSTRACT: This dissertation presents a method for the decentralized coordinated guidance of autonomous underwater vehicles (AUVs) based on virtual potentials. The virtual potentials (VP) motion planning framework possesses the qualities of cross-layer uniting in a single formulation several imporant navigation goals: (i) stable and effective cruise towards a target, (ii ) avoidance of collisions, (iii ) formation-keeping. Two realistic models of vehicle dynamics were used – a cruise-type vehicle and one independently actuated in heave. A layer linking the VP framework with the lowlevel controllers was developed, as was a navigation filter of the sigma-point Unscented Kalman filter variety. Furthermore, realistic process and measurement noises were simulated, which include non-stationary effects and effects beyond first order statistics, as well as bias, flicker and intermittent sensor failure. A non-consensual local knowledge of the environment, in terms of obstacles, was also simulated. A special discussion was dedicated to the broadcast communications protocols in a formation. The VP framework was also used as a tool to generate realistic pseudo-stationary sea currents in 3D. Two novel criteria for performance assessment were proposed and used in testing. The VP framework was shown to exhibit robust, stable, resource-efficient formation-keeping and navigation towards prescribed goals. - KEYWORDS: unmanned marine vehicles, autonomous underwater vehicles, decentralized control, coordinated control, navigation, guidance and control of marine vehicles, virtual potentials, rotor vector fields, local minima avoidance, collision avoidance, formation cruising