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Título

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

AutorMasmitja, Ivan CSIC ORCID; González, Julián; Galarza, César; Gomáriz, Spartacus; Aguzzi, Jacopo CSIC ORCID ; Río, Joaquín del CSIC
Palabras clavePropulsion systems
AUV
Autonomous vehicles
Thruster vectorial control
Automatic navigation
Fuzzy control
Linear control
Fecha de publicaciónabr-2018
EditorMolecular Diversity Preservation International
CitaciónSensors 18(4): 1241 (2018)
ResumenAutonomous 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.
Descripción26 pages, 27 figures, 2 tables
Versión del editorhttps://doi.org/10.3390/s18041241
URIhttp://hdl.handle.net/10261/165316
DOI10.3390/s18041241
Identificadoresdoi: 10.3390/s18041241
issn: 1424-8220
e-issn: 1424-8220
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