Abstract
This work presents the development of a mini underwater vehicle (Triton-PR), the embedded system, and the experiments in real-time for autonomous hover operation. Artificial vision allows the vehicle to obtain the translational position and velocity. The main characteristic of the embedded system is the implementation of low cost devices and materials, besides the number and location of the thrusters was chosen in order to have enough power and generate the rotation and translation movements. The dynamical model of the (Triton-PR) is described by the classic Euler-Lagrange equations, and a PD controller based on saturation functions is proposed for providing autonomous attitude and position of the robot. Finally, the performance of the vehicle is shown in simulation and real-time experimental results.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
