Next Article in Journal
Blockchain and IoT Integration: A Systematic Survey
Next Article in Special Issue
Automated Calibration Method for Eye-Tracked Autostereoscopic Display
Previous Article in Journal
Screening Method for Anti-Colon Cancer Drugs Using Two Sensor Cell Lines with Human β4-Galactosyltransferase 4 Gene Promoters
Previous Article in Special Issue
High-Precision Detection of Defects of Tire Texture Through X-ray Imaging Based on Local Inverse Difference Moment Features
Open AccessArticle

Modeling and Control of a Micro AUV: Objects Follower Approach

1
Energy Division, Center for Engineering and Industrial Development-CIDESI, Santiago de Queretaro, Queretaro 76125, Mexico
2
Automation and Control Department, Universidad Politecnica de Tulancingo-UPT, Tulancingo 43629, Hidalgo, Mexico
3
Ecole Nationale Supérieure de Techniques Avancées-ENSTA, Bretagne, Brest 29806, France
4
CONACYT, Universidad del Istmo de Tehuantepec-UNISTMO, Tehuantepec 70760, Oaxaca, Mexico
*
Author to whom correspondence should be addressed.
Current address: Av. Playa Pie de la Cuesta No. 702, Desarrollo San Pablo, Santiago de Queretaro, Queretaro 76125, Mexico.
Sensors 2018, 18(8), 2574; https://doi.org/10.3390/s18082574
Received: 14 June 2018 / Revised: 17 July 2018 / Accepted: 19 July 2018 / Published: 6 August 2018
(This article belongs to the Special Issue Sensors Signal Processing and Visual Computing)
This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle (μ-AUV), named AR2D2. The main objective of this work is to make the vehicle to detect and follow an object with defined color by means of the readings of a depth sensor and the information provided by an artificial vision system. A nonlinear PD (Proportional-Derivative) controller is implemented on the vehicle in order to stabilize the heave and surge movements. A formal stability proof of the closed-loop system using Lyapunov’s theory is given. Furthermore, the performance of the μ-AUV is validated through numerical simulations in MatLab and real-time experiments. View Full-Text
Keywords: submarine robot; modeling; control; embedded system; micro vehicle; nonlinear PD; stability; computer vision submarine robot; modeling; control; embedded system; micro vehicle; nonlinear PD; stability; computer vision
Show Figures

Figure 1

MDPI and ACS Style

Monroy-Anieva, J.A.; Rouviere, C.; Campos-Mercado, E.; Salgado-Jimenez, T.; Garcia-Valdovinos, L.G. Modeling and Control of a Micro AUV: Objects Follower Approach. Sensors 2018, 18, 2574.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop