Institutional Repository
Technical University of Crete
Technical University of Crete
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| URI: | http://purl.tuc.gr/dl/dias/459DF684-0E17-43F1-85F1-56A62816D765 | ||
| Year | 2014 | ||
| Type of Item | Conference Full Paper | ||
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| Bibliographic Citation | S. Piperidis, N.C. Tsourveloudis, "Biomimetic behaviour based underwater control," in 22nd Mediterranean Conference on Control and Automation (MED), 2014, pp. 764-772, 16-19 June 2014. doi: 10.1109/MED.2014.6961466 https://doi.org/10.1109/MED.2014.6961466 | ||
| Appears in Collections |
The proposed controller's main task is to accomplish a safe diving autonomous operation under certain constraints, typically met in Autonomous Underwater Vehicles' (AUV) missions. AUV's behaviour follows a biomimetic approach inspired by the everyday routine of the majority of underwater living creatures. Several phases of this routine seem to play an important role in sustaining creatures' vitality and, as a rule, are present among their distinct physical behaviours. These phases of underwater life routine was the basis for the proposed controller's design. The developed controller succeeds to maintain vessel's energy level, assuring safety and self preservation. In the same time it explores the surrounding area in search for possible targets-preys and is alerted for the detection of potential threats. This control method was extensively tested inside an indoors laboratory underwater experimentation area of 1m3 using Ale III, a compact custom made prototype AUV.
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