Author Type

Graduate Student

Date of Award

1996

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Smith, Samuel M.

Abstract

Autonomous underwater vehicle (AUV) missions are generally of a multi-tasked nature, i.e., there are usually several criteria which need to be met concurrently during the course of a mission. An example is the bottom altitude tracking mission proposed by the University of South Florida. They have developed a bottom classification and albedance package (BCAP) which will be used to record data to ground-truth oceanographic satellites. Two criteria needed for this mission are vehicle safety and motion stability of the recording sensors. This thesis will respectively compare the results of three bottom altitude tracking controllers: a linear modification of an existing depth controller, a TSK fuzzy logic controller, and a behavior based decision controller. Aspects analyzed for meeting the criteria were the ability of the auv to avoid collisions with bottom, the ability of the auv to maintain a desired altitude above the sea floor, and the ability of the auv to keep the amount of blur in a picture taken by a downward looking camera under one pixel. From simulation and real world testing, final results indicate the behavioral based decision controller was proven to be the most robust and the only controller tested to be able to handle multi-criteria.

Extent

108 p.

Comments

College of Engineering and Computer Science|FAU Electronic Theses and Dissertations Collection|Thesis (M.S.)--Florida Atlantic University, 1996.|College of Engineering and Computer Science

Identifier

FADT15236

Format

pdf

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