Design and Construction of Hybrid Autonomous Underwater Glider for Underwater Research

The main goal of this paper was to design and construct a hybrid autonomous underwater glider (HAUG) with a torpedo shape, a size of 230 cm in length and 24 cm in diameter. The control, navigation, and guidance system were executed simultaneously using a Udoo X86 minicomputer as the main server and...

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Bibliographic Details
Published in:Robotics (Basel) 2023-01, Vol.12 (1), p.8
Main Authors: Siregar, Simon, Trilaksono, Bambang Riyanto, Hidayat, Egi Muhammad Idris, Kartidjo, Muljowidodo, Habibullah, Natsir, Zulkarnain, Muhammad Fikri, Setiawan, Handi Nugroho
Format: Article
Language:English
Subjects:
autonomous underwater vehicle
Autonomous underwater vehicles
Bladder
Communication
control system
Design and construction
Energy consumption
Fisheries
Gliders (Aeronautics)
Global positioning systems
GPS
Guidance systems
hybrid autonomous underwater glider
Hydraulics
Minicomputers
navigation system
Navigation systems
Pitch (inclination)
Remote submersibles
robot operating system
Sensors
surface control
Underwater construction
Underwater vehicles
Velocity
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Summary:The main goal of this paper was to design and construct a hybrid autonomous underwater glider (HAUG) with a torpedo shape, a size of 230 cm in length and 24 cm in diameter. The control, navigation, and guidance system were executed simultaneously using a Udoo X86 minicomputer as the main server and three BeagleBone Black single-board computers as the clients. The simulations showed a controlled horizontal speed of 0.5 m/s in AUV mode and 0.39 to 0.51 m/s in glide mode with a pitch angle between 14.13∘ and 26.89∘. In addition, the field experiments under limited space showed the proposed HAUG had comparable results with the simulation, with a horizontal speed in AUV mode of 1 m/s and in glide mode of around 0.2 m/s. Moreover, the energy consumption with an assumption of three cycles of gliding motion per hour was 51.63 watts/h, which enabled the HAUG to perform a mission for 44.74 h. The proposed HAUG was designed to hold pressure up to 200 m under water and to perform underwater applications such as search and rescue, mapping, surveillance, monitoring, and maintenance.
ISSN:2218-6581
2218-6581
DOI:10.3390/robotics12010008