Development of a Compact Autonomous Underwater vehicle Using Varivec Propeller

2002 ◽  
Vol 14 (2) ◽  
pp. 112-117 ◽  
Author(s):  
Yutaka Nagashima ◽  
◽  
Nobuyoshi Taguchi ◽  
Takakazu Ishimatsu ◽  
Hirofumi Inoue ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Fuzzy Controller ◽  
Underwater Vehicle ◽  
Logic Circuits ◽  
Underwater Acoustic Communication ◽  
Gps Receiver ◽  
Depth Sensor ◽  
Command Signals ◽  
Target Path ◽  
Electronic Compass

This paper describes an autonomous underwater vehicle (AUV) with a distributed fuzzy controller and underwater acoustic communication. Our AUV is made compact and lightweight by using a Varivec propeller and compact controller with sophisticated logic circuits. The AUV is precisely controlled using underwater ultrasonic command signals and fuzzy control. The AUV is autonomously controlled using an electronic compass, collision avoidance sonar, depth sensor, and GPS receiver. Experimental results show that our AUV moved along the target path and held the desired position keeping azimuth direction and depth. We also confirmed that our algorithm to increase the reliability of ultrasonic communication worked without fail.

AUV with Variable Vector Propeller

2000 ◽  
Vol 12 (1) ◽  
pp. 60-65 ◽  
Author(s):  
Yutaka Nagashima ◽  
◽  
Takakazu Ishimatsu ◽  
Jamal Tariq Mian ◽  
Keyword(s):  
Acoustic Communication ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Logic Circuits ◽  
Underwater Acoustic Communication ◽  
Underwater Acoustic ◽  
Distributed Controller ◽  
Communication Reliability ◽  
Command Signals ◽  
And Control

We developed an autonomous underwater vehicle (AUV) with a distributed controller and underwater acoustic communication. It is compact and lightweight thanks to its variable vector propeller and control using sophisticated logic circuits. Control is very precise using underwater ultrasonic command signals. Experiments showed that the AUV moves along a path at the desired position and azimuth. We confirmed the feasibility of our algorithm for increasing ultrasonic communication reliability.

scholarly journals Multiautonomous underwater vehicle consistent collaborative hunting method based on generative adversarial network

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092523
Author(s):  
Lei Cai ◽  
Qiankun Sun
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Laplacian Matrix ◽  
Underwater Vehicle ◽  
Underwater Acoustic Communication ◽  
Constant Modulus Algorithm ◽  
Generative Adversarial Network ◽  
Adversarial Network ◽  
The Ideal

The time-varying ocean currents and the delay of underwater acoustic communication have caused the uncertainty of single autonomous underwater vehicle (AUV) tracking target and the inconsistency of multi-AUV coordination, which make it difficult for multiple AUVs to form a hunting alliance. To solve the above problems, this article proposes the multi-AUV consistent collaborative hunting method based on generative adversarial network (GAN). Firstly, the three-dimensional (3D) kinematic model of AUV is established for the underwater 3D environment. Secondly, combined with the Laplacian matrix, the topology of the hunting alliance in the ideal environment is established, and the control rate of AUV is calculated. Finally, using the GAN network model, the control relationship after environmental interference is used as the input of the generative model. The control rate in the ideal environment is used as the comparison object of the discriminative model. Using the iterative training of GAN to generate a control rate that adapts to the current interference environment and combining multi-AUV topological hunting model to achieve successful hunting of noncooperative target, the experimental results show that the algorithm reduces the average hunting time to 62.53 s and the success rate of hunting is increased to 84.69%, which is 1.17% higher than the particle swarm optimization-constant modulus algorithm (PSO-CMA) algorithm.

Control-Oriented Modelling of Spatial Motion of Autonomous Underwater Vehicle

2013 ◽  
Vol 196 ◽  
pp. 109-116
Author(s):  
Jerzy Garus
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
Design Parameters ◽  
Reference Trajectory ◽  
Control Performance ◽  
Nonlinear Mathematical Model ◽  
Parameter Adaptation ◽  
Command Signals ◽  
Adaptation Law

Modelling of three-dimensional motion of an underwater vehicle along a time-varying reference trajectory with predefined speed profiles is presented in the paper. A nonlinear mathematical model with unknown nonlinearities describes the vehicle’s dynamics. Command signals are generated by an adaptive autopilot consisting of three independent controllers with a parameter adaptation law implemented. A control performance is guaranteed by suitably choosing design parameters. Selected results of computer simulations are inserted to demonstrate quality and effectiveness of the approach.

scholarly journals Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Lin-Lin Wang ◽  
Hong-Jian Wang ◽  
Li-Xin Pan ◽  
Jun-Xi Guo
Keyword(s):  
Disturbance Rejection ◽  
Water Surface ◽  
Autonomous Underwater Vehicle ◽  
Fuzzy Controller ◽  
Underwater Vehicle ◽  
Wave Disturbance ◽  
Roll Motion ◽  
Nonlinear Feedback ◽  
Roll Control ◽  
Active Disturbance Rejection

Considering the case of autonomous underwater vehicle navigating with low speed near water surface, a new method for designing of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance under different sea conditions. Active disturbance rejection fuzzy control is applied, which is based on nonlinear motion model of autonomous underwater vehicle and the principle of zero-speed fin stabilizer. Extended state observer is used for estimation of roll motion state and unknown wave disturbance. Wave moment is counteracted by introducing compensation term into the roll control law which is founded on nonlinear feedback. Fuzzy reasoning is used for parameter adjustment of the controller online. Simulation experiments on roll motion are conducted under different sea conditions, and the results show better robustness improved by active disturbance rejection fuzzy controller of autonomous underwater vehicle navigating near water surface.

Basic Study on Positioning of Autonomous Underwater Vehicle Based on Acoustic Ranging From One Reference Device

2020 ◽  
Author(s):  
Yoshitaka Watanabe
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Atomic Clock ◽  
Underwater Vehicle ◽  
Direct Sequence Spread Spectrum ◽  
Integrated System ◽  
Doppler Velocity ◽  
Depth Sensor ◽  
Short Baseline ◽  
Reference Device ◽  
Acoustic Positioning

Abstract An autonomous underwater vehicle (AUV) equipped with some navigational devices, such as an inertial navigation system (INS), a Doppler velocity log (DVL), and a depth sensor. This integrated system is typical and accurate, however, have drift error in position output. Then an acoustic positioning, which is one of absolute positioning, is necessary to compensate the drift error. As acoustic positioning, ultra-short baseline (USBL) is frequently used, however, not accurate especially in deep water. Long baseline (LBL) is very accurate, however, spends much time to operate. In this paper, acoustic positioning method of AUV based on ranging from only one reference device is considered with simulations. One-way travel time (OWTT) is measured for ranging assuming use of chip scale atomic clock (CSAC). And the ranging signal is continuous and modulated direct sequence spread spectrum (DSSS). Ranging is executed at each symbol peak, then period of the ranging is very small. In process of the method, the drift error of position output of the INS is estimated with extended Kalman filter (EKF). Simulation with two models, constant-position-error, and constant-velocity-error models, were performed. The later was obviously unstable. Circular cruising track of the A UV makes the estimation more stable. Moreover, when the AUV cruises near the reference, the estimation is more stable. It may good that at final phase of descending of the AUV, the AUV cruises near the seabed and spirally, and the estimation process may be performed stably.

scholarly journals Autonomous Underwater Robot Fuzzy Motion Control System with Parametric Uncertainties

Designs ◽  
2021 ◽  
Vol 5 (1) ◽  
pp. 24
Author(s):  
Anton Zhilenkov ◽  
Sergei Chernyi ◽  
Andrey Firsov
Keyword(s):  
Control System ◽  
Motion Control ◽  
Autonomous Underwater Vehicle ◽  
Fuzzy Controller ◽  
Underwater Vehicle ◽  
Motion Control System ◽  
Quality Of Control ◽  
Exogenous Disturbances ◽  
Proportional Derivative Controller

The paper describes the design of a fuzzy motion control system of an autonomous underwater vehicle. A mathematical model of the underwater vehicle is synthesized. A fuzzy regulator for controlling the depth of immersion autonomous underwater vehicle is designed. The quality of control for step control, harmonic control, as well as various types of exogenous disturbances, is investigated. The comparison of the functioning quality of the designed fuzzy controller with the proportional–derivative controller is made. It is shown that the designed fuzzy controller provides a higher quality of control compared to the proportional–derivative controller. The proposed fuzzy controller provides high-quality control of the plant under uncertainties.

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