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Sensors 2018, 18(4), 1241; https://doi.org/10.3390/s18041241

New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy

1
SARTI research group, Electronics Department, Universitat Politècnica de Catalunya, 08800 Vilanova i la Geltrú, Spain
2
Marine Science Institute (ICM), Consejo Superior de Investigaciones Científica (CSIC), 08003 Barcelona, Spain
*
Author to whom correspondence should be addressed.
Received: 19 March 2018 / Revised: 6 April 2018 / Accepted: 13 April 2018 / Published: 17 April 2018
(This article belongs to the Special Issue Mechatronic Systems for Automatic Vehicles)

Abstract

Autonomous Underwater Vehicles (AUV) are proving to be a promising platform design for multidisciplinary autonomous operability with a wide range of applications in marine ecology and geoscience. Here, two novel contributions towards increasing the autonomous navigation capability of a new AUV prototype (the Guanay II) as a mix between a propelled vehicle and a glider are presented. Firstly, a vectorial propulsion system has been designed to provide full vehicle maneuverability in both horizontal and vertical planes. Furthermore, two controllers have been designed, based on fuzzy controls, to provide the vehicle with autonomous navigation capabilities. Due to the decoupled system propriety, the controllers in the horizontal plane have been designed separately from the vertical plane. This class of non-linear controllers has been used to interpret linguistic laws into different zones of functionality. This method provided good performance, used as interpolation between different rules or linear controls. Both improvements have been validated through simulations and field tests, displaying good performance results. Finally, the conclusion of this work is that the Guanay II AUV has a solid controller to perform autonomous navigation and carry out vertical immersions. View Full-Text
Keywords: propulsion system; AUV; autonomous vehicle; linear control; fuzzy control; automatic navigation; thruster vectorial control propulsion system; AUV; autonomous vehicle; linear control; fuzzy control; automatic navigation; thruster vectorial control
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Masmitja, I.; Gonzalez, J.; Galarza, C.; Gomariz, S.; Aguzzi, J.; del Rio, J. New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy. Sensors 2018, 18, 1241.

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