The AUV (autonomous underwater vehicle) of the University of Canterbury targets to discover any foreign organisms residing on the sea chests of ships, which cause a risk for the domestic biodiversity, and removes them. With the design of the AUV finished, the primary goal of this paper is to design control software that stabilizes the vehicle and minimizes the error in the desired trajectory. The dynamical model with implemented assumptions ultimately leads to a decoupled system of non-linear equations in three directions: surge, heave and yaw. For this system, experiments are designed (but not yet successfully accomplished) to identify the system parameters. With respect to control, a feedback linearization is firstly applied to a 1D case, which results in a satisfactory PIDcontroller, taking into account parameter perturbation and noise contamination. Finally, the under actuated problem in the 2D situation is evaluated, for which a path planning method and a state feedback control method is derived.
Development of underwater vehicles (UVs) has come to an era that UVs can be specifically designed and made for customized applications, based on established theories and principles. This paper reports on the Canterbury UV developed at the University of Canterbury, which targets to inspect and clean sea chests of ships to eliminate bio-security risks caused by small organisms residing in the sea chests. Based on the mechanical prototype, navigation of the Canterbury UV is discussed in principle with the aim to providing theoretical ground for the future implementation of navigation control. Simulation results of the UV model demonstrate that the vehicle can be controlled with satisfying performance using the extended Kalman filter.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.