Development and control of a new AUV platform

This paper presents an architecture of a newly developed autonomous underwater vehicle (AUV) platform, named KAUV-1, which is designed as a torpedo with very light weight and small size, suitable for use in marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at the af...

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Bibliographic Details
Published in:International journal of control, automation, and systems 2014, Automation, and Systems, 12(4), , pp.886-894
Main Authors: Loc, Mai Ba, Choi, Hyeung-Sik, Seo, Jung-Min, Baek, Se-Hoon, Kim, Joon-Young
Format: Article
Language:English
Subjects:
Automation
Autonomous underwater vehicles
Control
Energy consumption
Engineering
Mechatronics
Motion control
Pitch angle
Platforms
Propellers
Robotics
Robotics and Automation
Strategy
Studies
Systems design
Vehicles
Weight reduction
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Summary:This paper presents an architecture of a newly developed autonomous underwater vehicle (AUV) platform, named KAUV-1, which is designed as a torpedo with very light weight and small size, suitable for use in marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at the aft end with yawing actuation acting as a rudder. For depth motion, the KAUV-1 is designed to have a mass shifter mechanism inside to change the vehicle center of gravity and to control its pitch angle and depth motion. The paper also presents an analysis on the equations of motion of the KAUV-1 with mass shifter mechanism and a new depth control strategy for the KAUV-1. The feasibility of the proposed control strategy is validated through simulation and experiment of performance of the vehicle.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-012-0385-6