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درباره این کتاب:
Underwater
Vehicles: Design and Applications first
explores the application of the adaptive
Kalman filter algorithm to the
estimation of high speed autonomous
underwater vehicle dynamics. The authors
investigate the performances of
different control schemes, from
non-model-based to model-based and
adaptive model-based, implemented on a
low-inertia underwater vehicle for
three-dimensional helical trajectory
tracking. Control laws for collision
avoidance in three-dimensional
environments are introduced, considering
scenarios where a vehicle detects
arbitrarily shaped and nonconvex
obstacles using sensors...
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میخوانیم:
Table of contents :
1. INTRODUCTION 2. MATHEMATICAL MODEL OF
AUTONOMOUSUNDERWATER VEHICLE DYNAMICS 2.1.
Diving Subsystem of Sample AUV Model
2.1.1. Discretization for Diving Subsystem
2.2. Steering Subsystem of Sample AUV
2.2.1. Discretization of Steering
Subsystem 3. KALMAN FILTER FOR ESTIMATION
OF AUV DYNAMICS 3.1. Optimum Linear Kalman
Filter Equations 3.2. Adaptive Fading
Kalman Filter 3.2.1. Adaptive Fading KF
with Single Fading Factor 3.2.2. Adaptive
Fading KF with Multiple Fading Factor 4.
SIMULATION RESULTS 4.1. OKF Results 4.2.
AFKF with SFF Simulation Results 4.3. AFKF
with MFF Simulation Results
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علوم دریایی، بنادر و کشتیرانی،
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