AUV Cruising Auto Pilot for a Long Straight Confined Underwater Tunnel

Autonomous systems are sometimes the only safe way to explore underwater environments, a common problem of large and confined flooded sites with high water turbidity. Despite their advantages, Autonomous Underwater Vehicles (AUVs) often demand expensive sensors to handle poor localization informatio...

Full description

Saved in:
Bibliographic Details
Main Authors: Gava, Pedro Daniel de Cerqueira, Jorge, Vitor Augusto Machado, Junior, Cairo Lucio Nascimento, Adabo, Geraldo Jose
Format: Conference Proceeding
Language:English
Subjects:
Acceleration
AUV
confined spaces
Control systems
Mathematical model
Navigation
nonlinear control
Quaternions
Sensors
Surges
Vehicle dynamics
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Autonomous systems are sometimes the only safe way to explore underwater environments, a common problem of large and confined flooded sites with high water turbidity. Despite their advantages, Autonomous Underwater Vehicles (AUVs) often demand expensive sensors to handle poor localization information in such scenarios and the control challenges associated with the water environment. This paper presents an auto pilot system for AUVs that is designed to travel across long underwater tunnels that does not require inertial position knowledge, exemplifying a generalization of the "follow the line" concept, considering the task now for tunnels. We present different approaches in simulation scenarios using MATLAB ® and Simulink ® comparing control techniques with perfect localization. Results show that the assumption of decoupled system does not fit well for this vehicle. Best results were achieved when using a Guidance System to generate a smooth path from the current state of the vehicle to the desired one in combination with a State Feedback Linearization technique.
ISSN:2472-9647
DOI:10.1109/SysCon47679.2020.9275846