Design and Development of an Autonomous Underwater Vehicle for Underwater Target Navigation Mission Module

Muhammad Muzakkir Ahmad Roslan; Herdawatie Abdul Kadir; Khalid Isa; Radzi Ambar; Mohd Rizal Arshad; Maziyah Mat Noh; Mohd Helmy Wahab

doi:10.1007/978-981-13-3708-6_6

Design and Development of an Autonomous Underwater Vehicle for Underwater Target Navigation Mission Module

Muhammad Muzakkir Ahmad Roslan, Herdawatie Abdul Kadir^*, Khalid Isa, Radzi Ambar, Mohd Rizal Arshad, Maziyah Mat Noh, Mohd Helmy Wahab

^*Corresponding author for this work

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

Abstract

The Autonomous Underwater Vehicles (AUV) industry is growing dramatically with the increase in the reliability and technical abilities of these vehicles. The vehicles require autonomous guidance and control system in order to perform underwater tasks. The Target Navigation Mission Module (TNMM) permits the vehicle to follow preprogrammed trajectories wherever and whenever required. Without this module, the vehicle will not be able to achieve the desired mission. In this work, the Mission module were able to identify the task, detect the target, coordinate the state of AUV (attain desired height and yaw angle) and makes decision on path based on mission time elapsed. The Target Navigation Mission Module used the Kalman Filter algorithm to estimates the state of a system during the navigation. The results shows a reliable reading obtain by the AUV. Therefore, better decision on motion direction were achieved. The AUV was able to navigate underwater and track underwater object without the need of operator assistance.

Original language	English
Title of host publication	Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 - NUSYS 2018
Editors	Zainah Md Zain, Hamzah Ahmad, Dwi Pebrianti, Mahfuzah Mustafa, Nor Rul Hasma Abdullah, Rosdiyana Samad, Maziyah Mat Noh
Publisher	Springer Verlag
Pages	55-63
Number of pages	9
ISBN (Print)	9789811337079
DOIs	https://doi.org/10.1007/978-981-13-3708-6_6
Publication status	Published - 2019
Externally published	Yes
Event	10th National Technical Seminar on Underwater System Technology, NUSYS 2018 - Pahang, Malaysia Duration: 26 Sept 2018 → 27 Sept 2018

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	538
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	10th National Technical Seminar on Underwater System Technology, NUSYS 2018
Country/Territory	Malaysia
City	Pahang
Period	26/09/18 → 27/09/18

Keywords

Autonomous Underwater Vehicles
Kalman Filter
Navigation

Access to Document

10.1007/978-981-13-3708-6_6

Cite this

Ahmad Roslan, M. M., Abdul Kadir, H., Isa, K., Ambar, R., Arshad, M. R., Mat Noh, M., & Wahab, M. H. (2019). Design and Development of an Autonomous Underwater Vehicle for Underwater Target Navigation Mission Module. In Z. Md Zain, H. Ahmad, D. Pebrianti, M. Mustafa, N. R. H. Abdullah, R. Samad, & M. Mat Noh (Eds.), Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 - NUSYS 2018 (pp. 55-63). (Lecture Notes in Electrical Engineering; Vol. 538). Springer Verlag. https://doi.org/10.1007/978-981-13-3708-6_6

Ahmad Roslan, Muhammad Muzakkir ; Abdul Kadir, Herdawatie ; Isa, Khalid et al. / Design and Development of an Autonomous Underwater Vehicle for Underwater Target Navigation Mission Module. Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 - NUSYS 2018. editor / Zainah Md Zain ; Hamzah Ahmad ; Dwi Pebrianti ; Mahfuzah Mustafa ; Nor Rul Hasma Abdullah ; Rosdiyana Samad ; Maziyah Mat Noh. Springer Verlag, 2019. pp. 55-63 (Lecture Notes in Electrical Engineering).

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title = "Design and Development of an Autonomous Underwater Vehicle for Underwater Target Navigation Mission Module",

abstract = "The Autonomous Underwater Vehicles (AUV) industry is growing dramatically with the increase in the reliability and technical abilities of these vehicles. The vehicles require autonomous guidance and control system in order to perform underwater tasks. The Target Navigation Mission Module (TNMM) permits the vehicle to follow preprogrammed trajectories wherever and whenever required. Without this module, the vehicle will not be able to achieve the desired mission. In this work, the Mission module were able to identify the task, detect the target, coordinate the state of AUV (attain desired height and yaw angle) and makes decision on path based on mission time elapsed. The Target Navigation Mission Module used the Kalman Filter algorithm to estimates the state of a system during the navigation. The results shows a reliable reading obtain by the AUV. Therefore, better decision on motion direction were achieved. The AUV was able to navigate underwater and track underwater object without the need of operator assistance.",

keywords = "Autonomous Underwater Vehicles, Kalman Filter, Navigation",

author = "{Ahmad Roslan}, {Muhammad Muzakkir} and {Abdul Kadir}, Herdawatie and Khalid Isa and Radzi Ambar and Arshad, {Mohd Rizal} and {Mat Noh}, Maziyah and Wahab, {Mohd Helmy}",

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year = "2019",

doi = "10.1007/978-981-13-3708-6_6",

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Ahmad Roslan, MM, Abdul Kadir, H, Isa, K, Ambar, R, Arshad, MR, Mat Noh, M & Wahab, MH 2019, Design and Development of an Autonomous Underwater Vehicle for Underwater Target Navigation Mission Module. in Z Md Zain, H Ahmad, D Pebrianti, M Mustafa, NRH Abdullah, R Samad & M Mat Noh (eds), Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 - NUSYS 2018. Lecture Notes in Electrical Engineering, vol. 538, Springer Verlag, pp. 55-63, 10th National Technical Seminar on Underwater System Technology, NUSYS 2018, Pahang, Malaysia, 26/09/18. https://doi.org/10.1007/978-981-13-3708-6_6

Design and Development of an Autonomous Underwater Vehicle for Underwater Target Navigation Mission Module. / Ahmad Roslan, Muhammad Muzakkir; Abdul Kadir, Herdawatie; Isa, Khalid et al.
Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 - NUSYS 2018. ed. / Zainah Md Zain; Hamzah Ahmad; Dwi Pebrianti; Mahfuzah Mustafa; Nor Rul Hasma Abdullah; Rosdiyana Samad; Maziyah Mat Noh. Springer Verlag, 2019. p. 55-63 (Lecture Notes in Electrical Engineering; Vol. 538).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

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AU - Ahmad Roslan, Muhammad Muzakkir

AU - Abdul Kadir, Herdawatie

AU - Isa, Khalid

AU - Ambar, Radzi

AU - Arshad, Mohd Rizal

AU - Mat Noh, Maziyah

AU - Wahab, Mohd Helmy

PY - 2019

Y1 - 2019

N2 - The Autonomous Underwater Vehicles (AUV) industry is growing dramatically with the increase in the reliability and technical abilities of these vehicles. The vehicles require autonomous guidance and control system in order to perform underwater tasks. The Target Navigation Mission Module (TNMM) permits the vehicle to follow preprogrammed trajectories wherever and whenever required. Without this module, the vehicle will not be able to achieve the desired mission. In this work, the Mission module were able to identify the task, detect the target, coordinate the state of AUV (attain desired height and yaw angle) and makes decision on path based on mission time elapsed. The Target Navigation Mission Module used the Kalman Filter algorithm to estimates the state of a system during the navigation. The results shows a reliable reading obtain by the AUV. Therefore, better decision on motion direction were achieved. The AUV was able to navigate underwater and track underwater object without the need of operator assistance.

AB - The Autonomous Underwater Vehicles (AUV) industry is growing dramatically with the increase in the reliability and technical abilities of these vehicles. The vehicles require autonomous guidance and control system in order to perform underwater tasks. The Target Navigation Mission Module (TNMM) permits the vehicle to follow preprogrammed trajectories wherever and whenever required. Without this module, the vehicle will not be able to achieve the desired mission. In this work, the Mission module were able to identify the task, detect the target, coordinate the state of AUV (attain desired height and yaw angle) and makes decision on path based on mission time elapsed. The Target Navigation Mission Module used the Kalman Filter algorithm to estimates the state of a system during the navigation. The results shows a reliable reading obtain by the AUV. Therefore, better decision on motion direction were achieved. The AUV was able to navigate underwater and track underwater object without the need of operator assistance.

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A2 - Mustafa, Mahfuzah

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A2 - Mat Noh, Maziyah

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Ahmad Roslan MM, Abdul Kadir H, Isa K, Ambar R, Arshad MR, Mat Noh M et al. Design and Development of an Autonomous Underwater Vehicle for Underwater Target Navigation Mission Module. In Md Zain Z, Ahmad H, Pebrianti D, Mustafa M, Abdullah NRH, Samad R, Mat Noh M, editors, Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 - NUSYS 2018. Springer Verlag. 2019. p. 55-63. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-13-3708-6_6

Design and Development of an Autonomous Underwater Vehicle for Underwater Target Navigation Mission Module

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