Engineering Commons^™

Development Of Modeling And Simulation Platform For Path-Planning And Control Of Autonomous Underwater Vehicles In Three-Dimensional Spaces, Sai Krishna Abhiram Kondapalli

Mechanical & Aerospace Engineering Theses & Dissertations

Autonomous underwater vehicles (AUVs) operating in deep sea and littoral environments have diverse applications including marine biology exploration, ocean environment monitoring, search for plane crash sites, inspection of ship-hulls and pipelines, underwater oil rig maintenance, border patrol, etc. Achieving autonomy in underwater vehicles relies on a tight integration between modules of sensing, navigation, decision-making, path-planning, trajectory tracking, and low-level control. This system integration task benefits from testing the related algorithms and techniques in a simulated environment before implementation in a physical test bed. This thesis reports on the development of a modeling and simulation platform that supports the design and …