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Optimization of Control Scheme fo Autonomous Underwater Crawlers |
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Description:
The movies are optimized, non-linear, fuzzy logic control using continuous data from rotating head sonar with no navigation error. Image1 is the non-linear controller with discrete data from rotating head sonar (one 360 deg sweep every 6 seconds) with no navigation error. Image2 is same as the previous but with navigation error and Long Baseline (LBL) updates every 120 seconds.
