Modeling and Control of a Micro AUV: Objects Follower Approach

Monroy-Anieva, Jesus Arturo; Rouviere, Cyril; Campos‐Mercado, Eduardo; Salgado-Jiménez, Tomás; García-Valdovinos, Luis G.

doi:10.3390/s18082574

Cited by 11 publications

(4 citation statements)

References 13 publications

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“…An alternative approach is the use of a camera or set of cameras to identify features in the environment or targets for the AUV mission. Monroy et al [72] developed a micro AUV with an artificial vision system that allows it to follow an object by its color. A Hue Saturation Value (HSV) filter was implemented on the artificial vision system and a non-linear proportional-derivative controller on the vehicle to stabilize the heave and surge movements.…”

Section: Optical Navigationmentioning

confidence: 99%

Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions

et al. 2020

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Development of Autonomous Underwater Vehicles (AUVs) has permitted the automatization of many tasks originally achieved with manned vehicles in underwater environments. Teams of AUVs designed to work within a common mission are opening the possibilities for new and more complex applications. In underwater environments, communication, localization, and navigation of AUVs are considered challenges due to the impossibility of relying on radio communications and global positioning systems. For a long time, acoustic systems have been the main approach for solving these challenges. However, they present their own shortcomings, which are more relevant for AUV teams. As a result, researchers have explored different alternatives. To summarize and analyze these alternatives, a review of the literature is presented in this paper. Finally, a summary of collaborative AUV teams and missions is also included, with the aim of analyzing their applicability, advantages, and limitations.

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Section: Optical Navigationmentioning

confidence: 99%

Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions

et al. 2020

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“…The maximal dimensions of the vehicle (established as

m in

, and

, respectively) place it in the “mini vehicle” category [ 23 , 41 ]. According to the CAD software that was used for its conception (Solidworks™), the volume of the mini-AUV is 0.006 m

, which in conjunction with its mass,

kg, defines the principal moments of inertia about the axis

, and

, respectively.…”

Section: Mini-auv Mathematical Modellingmentioning

confidence: 99%

Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation

Castillo-Zamora

Camarillo‐Gómez

Pérez-Soto

et al. 2021

Sensors

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This manuscript presents a fully detailed methodology in order to identify the hydrodynamic parameters of a mini autonomous underwater vehicle (mini-AUV) and evaluate its performance using different controllers. The methodology consists of close-to-reality simulation using a Computed Fluid Dynamics (CFD) module of the ANSYS™ Workbench software, the processing of the data, obtained by simulation, with a set of Savistky–Golay filters; and, the application of the Least Square Method in order to estimate the hydrodynamic parameters of the mini-AUV. Finally, these parameters are considered to design the three different controllers that are based on the robot manipulators theory. Numerical simulations are carried out to evaluate the performance of the controllers.

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“…The most common use of dynamic models in aquatic vehicles is to aid in understanding and design of control systems that automatically hold aquatic vehicle positions and velocities, e.g., [122][123][124][125]. However, there are also many examples where aquatic vehicle localisation is achieved or aided by a dynamic model [50][51][52]126,127] Localisation from a dynamic model is particularly attractive in confined spaces, because water currents are not always present and circulation pumps can often be temporarily turned off.…”

Section: Dynamic Modelsmentioning

confidence: 99%

Localisation of Unmanned Underwater Vehicles (UUVs) in Complex and Confined Environments: A Review

Watson

Duecker

Groves

2020

Sensors

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The inspection of aquatic environments is a challenging activity, which is made more difficult if the environment is complex or confined, such as those that are found in nuclear storage facilities and accident sites, marinas and boatyards, liquid storage tanks, or flooded tunnels and sewers. Human inspections of these environments are often dangerous or infeasible, so remote inspection using unmanned underwater vehicles (UUVs) is used. Due to access restrictions and environmental limitations, such as low illumination levels, turbidity, and a lack of salient features, traditional localisation systems that have been developed for use in large bodies of water cannot be used. This means that UUV capabilities are severely restricted to manually controlled low-quality visual inspections, generating non-geospatially located data. The localisation of UUVs in these environments would enable the autonomous behaviour and the development of accurate maps. This article presents a review of the state-of-the-art in localisation technologies for these environments and identifies areas of future research to overcome the challenges posed.

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Modeling and Control of a Micro AUV: Objects Follower Approach

Cited by 11 publications

References 13 publications

Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions

Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions

Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation

Localisation of Unmanned Underwater Vehicles (UUVs) in Complex and Confined Environments: A Review

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