Hovering-type Autonomous Underwater Vehicle Research Articles

Simulation and control of a novel hovering type autonomous underwater vehicle (HAUV) with ballast tanks

Simulation and control of a novel hovering type autonomous underwater vehicle (HAUV) with ballast tanks

Investigation of a New Hovering Autonomous Underwater Vehicle for Underwater Missions

It is impossible to implement very tasks by diver, because of complexity of underwater environment and high pressure in the deep sea. These tasks can just be done by a vehicle that includes all special requirements such as: high maneuverability, precise controllability, and especially hovering capability. Underwater robots are integral parts of the industry and marine science. The application of the underwater vehicles has increased with the development of the activities in deep sea. This paper presents a special Hovering type Autonomous Underwater Vehicle (HAUV) for underwater missions. To provide the most suitable and efficient formation of vehicle thrusters for reduction of complexity of control strategies and control of the most degrees of freedom, in this paper, a new thrusters' configuration is investigated, in terms of number of the thrusters, position and the thrust direction of the thrusters. The state feedback controller is designed according to the linear dynamic model and then applied to the non-linear model to validate the controller performance. Designed controller consists of three controllers: horizontal plane controller, vertical plane controller and surge controller. The last controller is developed to control the forward speed. For examination of the system behavior in presence of environmental disturbance and hydrodynamic coefficients uncertainty, the robustness of controller is also investigated.

Dynamic modelling of a hovering type autonomous underwater vehicle with ballast tank

Dynamic modelling of a hovering type autonomous underwater vehicle with ballast tank

Dynamic modelling of a hovering type autonomous underwater vehicle with ballast tank

Dynamic modelling of a hovering type autonomous underwater vehicle with ballast tank

Underwater Platform for Intelligent Robotics and its Application in Two Visual Tracking Systems

A hovering-type autonomous underwater vehicle (AUV) capable of cruising at low altitudes and observing the seafloor using only mounted sensors and payloads was developed for sea-creature survey. The AUV has a local area network (LAN) interface for an additional payload that can acquire navigation data from the AUV and transmit the target value to the AUV. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In this research, water tank tests and sea trials were performed using an AUV equipped with a visual tracking system developed in other laboratories. The experimental results proved that additional payload can control the AUV position with a standard deviation of 0.1 m.

2A2-N08 ホバリング型AUV Tri-TONの開発 : 複雑環境の3次元画像化を目指して(水中ロボット・メカトロニクス)

AUV Tri-TON is a hovering type autonomous underwater vehicle (AUV) developed in 2011 under the governmental project to develop instruments to estimate ore reserves in underwater hydrothermal deposits. The vehicle can dive as deep as 800m. The vehicle has two suites of imaging instruments looking forward and downward directions, in order to obtain dense, large-area 3D image of hydrothermal vent fields. Although the vehicle is not equipped with an inertial navigation system (INS), the vehicle can estimate its position in real-time with a precision enough for rough photo-mosaicing, owing to the mutual acoustic positioning with a seafloor station. This paper explains the concept of the vehicle and reports experimental results at Kagoshima bay in Japan.

개방형 제어 플랫폼 기반 호버링형 무인잠수정 테스트베드 설계 및 성능평가

This paper presents the design of hardware platform, which is a test bed for the navigation system and hovering type AUV (Autonomous Underwater Vehicle) under the OCP (Open Control Platform). The developed AUV test bed consists of two hulls, four thrusters, and the navigation system which uses a SBC2440II with IMU (Inertial Measurement Unit). And the SMC (Sliding Mode Control) is chosen for the diving and steering control of the AUV. This paper uses ACE/TAO RTEC (Real-Time Event Channel) as a middleware platform in order to control and communicate in the developed AUV test bed. In this paper, two computers are used and each of them is dedicated for the specific purpose, the first computer is used as the SMC module and the middleware platform for the ACE/TAO RTEC and the second computer is used for the sensor controller. We analyze the performance of the AUV test bed under the OCP.