A Dynamically Reconfigurable Autonomous Underwater Robot for Karst Exploration: Design and Experiment

Area of Science:

• Robotics
• Ocean Engineering
• Autonomous Systems

Background:

• Traditional underwater robots often have fixed configurations, limiting their adaptability to diverse operational environments.
• Reconfigurable underwater robots typically employ modular designs, which can introduce complexity and reduce structural integrity.
• Confined environments, such as karst systems, pose significant challenges for underwater exploration due to tight spaces and unpredictable currents.

Purpose of the Study:

• To present the design and experimental validation of a novel autonomous underwater robot with a dynamically reconfigurable actuation geometry.
• To demonstrate the robot's versatility in adapting its shape for specific mission requirements and environmental constraints.
• To highlight the advantages of a unified design over modular approaches for reconfigurable underwater robots.

Main Methods:

• Development of a unified robot design integrating forward and backward subsystems with adjustable thruster positions and orientations.
• Implementation of control software to manage dynamic reconfiguration based on mission objectives or environmental feedback.
• Experimental testing to evaluate the robot's maneuverability, adaptability, and performance in simulated confined environments.

Main Results:

• The robot successfully demonstrated dynamic reconfiguration of its thruster layout during missions.
• Experimental results validated the robot's enhanced maneuverability and adaptability in navigating complex spatial constraints.
• The unified design proved advantageous in terms of structural integrity and operational simplicity compared to modular counterparts.

Conclusions:

• The developed autonomous underwater robot offers a versatile and robust solution for missions in confined and challenging aquatic environments.
• The dynamic reconfiguration capability significantly enhances the robot's operational effectiveness, particularly for tasks like karst exploration and underwater docking.
• This unified design approach represents a promising advancement in the field of reconfigurable underwater robotics.