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<p>In multi-vehicle mine hunting operations, it will be necessary at times for one vehicle to loiter at some point while gathering communications of data from other vehicles. The loitering behaviors of the ARIES Autonomous Underwater Vehicle have never been completely defined. The track that the vehicle chooses to maintain station while circling around one specific point for an extended period of time may be sometimes random and unpredictable, unless defined in terms of specific tracks. Simulations were run and analyzed for various conditions to record the tendencies of the vehicle during different current conditions and approach situations. The stability of the Heading Controller was then analyzed in order to predict the position where the Line of Sight Guidance algorithm becomes unstable. The data obtained through the simulations supports and explains the tendencies ARIES exhibits while circling around a loiter point.
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<br>Subjects: Autonomous robots; Remote submersibles; Autonomous Underwater Vehicles; Robotics; Loitering Behavior; Line of Sight Guidance Instability; Liapunov Stability/Instability Theorem</div>
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Williams, Douglas L.</div>
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