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New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy
Ivan Masmitja1, Julian Gonzalez2, Cesar Galarza3
1SARTI research group, Electronics Department, Universitat Politècnica de Catalunya, 08800 Vilanova i la Geltrú, Spain. ivan.masmitja@upc.edu.
Sensors (Basel, Switzerland)
|April 21, 2018
Summary
This study introduces a new Autonomous Underwater Vehicle (AUV) with enhanced navigation. The Guanay II AUV features a novel propulsion system and fuzzy logic controllers for improved autonomous operation in marine environments.
Area of Science:
- Marine Robotics
- Autonomous Underwater Vehicles (AUV)
- Control Systems Engineering
Background:
- Autonomous Underwater Vehicles (AUVs) are crucial for marine ecology and geoscience research.
- Existing AUVs face limitations in maneuverability and autonomous navigation capabilities.
- The Guanay II is a novel AUV prototype combining propelled and glider functionalities.
Purpose of the Study:
- To enhance the autonomous navigation capabilities of the Guanay II AUV.
- To introduce a vectorial propulsion system for improved maneuverability.
- To develop advanced fuzzy logic controllers for autonomous control.
Main Methods:
- Designed a vectorial propulsion system for 3D maneuverability.
- Developed two decoupled fuzzy logic controllers for horizontal and vertical plane control.
- Validated the system through simulations and field tests.
Main Results:
- The vectorial propulsion system provides full maneuverability in horizontal and vertical planes.
- Fuzzy logic controllers enabled effective autonomous navigation.
- Simulations and field tests confirmed good performance of the AUV's control system.
Conclusions:
- The Guanay II AUV possesses a robust controller for autonomous navigation.
- The developed system is capable of performing autonomous vertical immersions.
- This research contributes to advancing AUV technology for marine applications.
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