Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Entire DC Network
Pose Detection And Control Of Unmanned Underwater Vehicles (Uuvs) Utilizing An Optical Detector Array, Firat Eren
Pose Detection And Control Of Unmanned Underwater Vehicles (Uuvs) Utilizing An Optical Detector Array, Firat Eren
Doctoral Dissertations
As part of the research for development of a leader-follower formation between unmanned underwater vehicles (UUVs), this study presents an optical feedback system for UUV navigation via an optical detector array. Capabilities of pose detection and control in a static-dynamic system (e.g. UUV navigation into a docking station) and a dynamic-dynamic system (e.g. UUV to UUV leader-follower system) are investigated. In both systems, a single light source is utilized as a guiding beacon for a tracker/follower UUV. The UUV uses an optical array consisting of photodiodes to receive the light field emitted from the light source.
For UUV navigation applications, …