Design and motion control of Autonomous Underwater Vehicle, Amogh
18 May 2015-pp 1-9
TL;DR: Amogh as mentioned in this paper is a miniature AUV developed at Centre For Innovation (CFI), IIT Madras for AUVSI RoboSub competition and has a dual hull heavy bottom hydrodynamic design equipped with six thrusters which allow for motion control in 4 degrees of freedom.
Abstract: Autonomous Underwater Vehicles (AUV) are slow-moving small unmanned robots capable of swimming independently below the water surface on pre-defined mission paths and are commonly used for oceanographic exploration, bathymetric surveys and military applications. With the use of appropriate sensors and equipment, AUVs can perform underwater object recognition and obstacle avoidance. Amogh is a miniature AUV developed at Centre For Innovation (CFI), IIT Madras for AUVSI RoboSub competition. The vehicle has a non-conventional dual hull heavy bottom hydrodynamic design equipped with six thrusters which allow for motion control in 4 degrees of freedom. This paper presents various aspects of the unique design of the vehicle. The performance of a simple PID controller for steady depth and heading control has been discussed. Simulations performed on a decoupled mathematical model of the vehicle are compared against experimental results.
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TL;DR: In this paper, the feasibility of using optical fiber sensing technology for marine application is discussed and a review of optical fiber sensors employed for marine environment and marine structural health monitoring are summarized for the understanding of their basic sensing principles.
Abstract: Optical fiber sensors have attracted considerable attention for marine environment and marine structural health monitoring, owing to advantages including resistance to electromagnetic interference, durability under extreme temperature and pressures, light weight, high transmission rate, small size and flexibility. In this paper, the optical fiber sensors employed for marine environment and marine structural health monitoring are summarized for the understanding of their basic sensing principles, and their various sensing applications such as physical parameters, chemical parameters and structural health monitoring. This review paper shows the feasibility of using optical fiber sensing technology for marine application and, due to the aforementioned advantages, it is possible to envisage a widespread use in this research field in the next few years.
184 citations
TL;DR: A novel design of the vectored thruster AUV based on 3SPS-S parallel manipulator, which can complete the mission at zero or slow forward speeds and has great application superiority and potential for AUV.
30 citations
TL;DR: A comparison between the proposed FPID controller and the conventional PID controller is studied and shows that theFPID controller has a faster response to the reference signal and more stable behavior in a disturbed non-linear environment.
Abstract: In this work a design for self-tuning non-linear Fuzzy Proportional Integral Derivative (FPID) controller is presented to control position and speed of Multiple Input Multiple Output (MIMO) fully-actuated Autonomous Underwater Vehicles (AUV) to follow desired trajectories. Non-linearity that results from the hydrodynamics and the coupled AUV dynamics makes the design of a stable controller a very difficult task. In this study, the control scheme in a simulation environment is validated using dynamic and kinematic equations for the AUV model and hydrodynamic damping equations. An AUV configuration with eight thrusters and an inverse kinematic model from a previous work is utilized in the simulation. In the proposed controller, Mamdani fuzzy rules are used to tune the parameters of the PID. Nonlinear fuzzy Gaussian membership functions are selected to give better performance and response in the non-linear system. A control architecture with two feedback loops is designed such that the inner loop is for velocity control and outer loop is for position control. Several test scenarios are executed to validate the controller performance including different complex trajectories with and without injection of ocean current disturbances. A comparison between the proposed FPID controller and the conventional PID controller is studied and shows that the FPID controller has a faster response to the reference signal and more stable behavior in a disturbed non-linear environment.
28 citations
21 Sep 2016
TL;DR: An inverse kinematic model for an Autonomous Underwater Vehicle (AUV) with 8 thrusters is presented, allowing the AUV to have a fully-actuated 6 Degrees of freedom (DOF).
Abstract: This paper presents an inverse kinematic model for an Autonomous Underwater Vehicle (AUV) with 8 thrusters. The vehicle configuration allow the AUV to have a fully-actuated 6 Degrees of freedom (DOF). Rigid body dynamic model and water environment hydrodynamic model are used in this study. The model is implemented and tested using Matlab and Simulink. A 3D model of the AUV is designed for illustration in this work using Autodesk MAYA. Cascaded position and velocity control approach is studied. A conventional linear Proportional Integral Derivative (PID) controller is used for speed control and PD controller for the position control. Ocean current disturbances are introduced to test the system and control stability. Validation of the model is performed with tests for speed stabilization and position control with and without disturbances.
9 citations
17 Jun 2019
TL;DR: The detailed design, mathematical model of the system and the preliminary simulation results using the developed model are presented and an experimental prototype is being developed to analyze and validate the concept.
Abstract: Hybrid multi domain vehicles are of great interest in due to their ability to traverse between different medium. The objective behind developing such hybrid vehicle/robot is to combine the capabilities of systems operating in various domains. Very few vehicles are presently being developed which can traverse underwater and can fly in air. Development of systems with capability to traverse both in air and water is highly challenging because of the contrasting properties of the traversing domains. In this paper, we propose one such vehicle which can be used as a remotely operated vehicle (ROV) underwater and can fly as a quadrotor. Design of such system is critical, as the dimensions and other related parameters like the mass and volume has to be optimal for both aerial and underwater traversal. Hence the system mathematically modelled to analyze the dynamics of the system and the same has been used to optimize the dimensions and the overall performance of the result. This paper presents the detailed design, mathematical model of the system and the preliminary simulation results using the developed model. An experimental prototype is being developed to analyze and validate the concept.
8 citations
Cites background from "Design and motion control of Autono..."
...The presented design has capability to switch between quadrotor configuration to AUV configuration by retracting the quadrotor arms and thus allowing independent manoeuvres in both the environments....
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...Underwater vehicles are broadly categorized into Remotely Operated Vehicles (ROV) and Autonomous Underwater Vehicles (AUV) [3]....
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...Underwater vehicles are being used for exploration along with applications in surveillance, rescue, repair, defence, etc. Underwater vehicles are broadly categorized into Remotely Operated Vehicles (ROV) and Autonomous Underwater Vehicles (AUV) [3]....
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References
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Book•
01 Jan 1994
TL;DR: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High-Speed Craft Appendices Bibliography Index as mentioned in this paper
Abstract: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High--Speed Craft Appendices Bibliography Index
3,577 citations
"Design and motion control of Autono..." refers methods in this paper
...The vehicle dynamics as described in [2], is most conveniently shown using non-linear equation of motion given by:...
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TL;DR: The key procedures in the proposed method are to provide integral action at the inputs to the plant and differentiate some of the measured outputs before they are fed back to the scheduled controller.
204 citations
01 Jan 2007
TL;DR: The paper describes the design and testing of the depth and heading autopilots for a small Autonomous Underwater Vehicle (AUV) named Maya using the LQ (Linear-Quadratic) optimization technique based on a mathematical model of the AUV obtained by resorting to analytical and semi-empirical methods.
Abstract: The paper describes the design and testing of the depth and heading autopilots for a small Autonomous Underwater Vehicle (AUV) named Maya. Control system design is done using the LQ (Linear-Quadratic) optimization technique based on a mathematical model of the AUV obtained by resorting to analytical and semi-empirical methods. Details of system implementation are given and the results of tests with the prototype vehicle are discussed. The paper concludes with a discussion of the interaction between motions in the horizontal and vertical planes due to an asymmetry in the placement of the stern control planes.
44 citations
"Design and motion control of Autono..." refers background in this paper
...More details on AUV design and control can be found in [1, 5]....
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TL;DR: Researchers at the University of Victoria have developed a hybrid autonomous underwater vehicle named MACO capable of 3-D station keeping and manoeuvring without forward velocity, which makes it suitable to perform many of the tasks traditionally accomplished by remotely-piloted underwater vehicles.
Abstract: Researchers at the University of Victoria have developed a hybrid autonomous underwater vehicle named MACO capable of 3-D station keeping and manoeuvring without forward velocity. This makes it suitable to perform many of the tasks traditionally accomplished by remotely-piloted underwater vehicles. Once operational, MACO was used in a Defence Research and Development Canada (DRDC) feasibility study for using AUVs to support rapid deployment of acoustic element arrays. The AUV was required to stop and hover, while triggering a low frequency sound source. The performance of MACO during these sea trials is presented as the conclusion to this discussion.
11 citations
"Design and motion control of Autono..." refers result in this paper
...A decoupled model similar to [4] has been considered to simulate the vehicle depth and yaw characteristics, and then compared against experimental results....
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