Development of a control system for an Autonomous Underwater Vehicle

I Masmitja,J Gonzalez,S Gomariz,G Masmitja,S Shariat-Panahi

doi:10.1109/auv.2010.5779647

I Masmitja, J Gonzalez + Show 3 more

Open Access

https://doi.org/10.1109/auv.2010.5779647

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Publication Date: Sep 1, 2010
Citations: 13	License type: other-oa

Affiliation: Universitat Politècnica de Catalunya

Abstract

Work proposes the development of a control system for an autonomous underwater vehicle dedicated to the observation of the oceans. The vehicle, a hybrid between Autonomous Underwater Vehicles (AUVs) and Autonomous Surface Vehicles (ASV), moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column, according to a pre-established plan. The displacement of the vehicle on the surface allows the navigation through GPS and telemetry communication by radio-modem. The vehicle is 2300mm long by 320mm wide. It weighs 85kg and reaches a maximum depth of 30m. A control system based on an embedded computer is designed and developed for this vehicle that allows a vehicle's autonomous navigation. This control system has been divided into navigation, propulsion, safety and data acquisition subsystems.

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