Development of a control system for an Autonomous Underwater Vehicle

Author

Masmitja, I. ; Masmitja, G. ; González, J. ; Shariat-Panahi, S. ; Gomariz, S.

Author_Institution

Dept. of Electron. Eng., Tech. Univ. of Catalonia, Barcelona, Spain

fYear

2010

fDate

1-3 Sept. 2010

Firstpage

1

Lastpage

5

Abstract

This work proposes the development of a control system for an autonomous underwater vehicle dedicated to the observation of the oceans. The vehicle, a hybrid between Autonomous Underwater Vehicles (AUVs) and Autonomous Surface Vehicles (ASV), moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column, according to a pre-established plan. The displacement of the vehicle on the surface allows the navigation through GPS and telemetry communication by radio-modem. The vehicle is 2300mm long by 320mm wide. It weighs 85kg and reaches a maximum depth of 30m. A control system based on an embedded computer is designed and developed for this vehicle that allows a vehicle´s autonomous navigation. This control system has been divided into navigation, propulsion, safety and data acquisition subsystems.

Keywords

Global Positioning System; data acquisition; displacement control; embedded systems; marine propulsion; modems; oceanographic techniques; remotely operated vehicles; safety systems; telemetry; underwater vehicles; ASV; AUV; GPS; autonomous surface vehicle; autonomous underwater vehicle; control system; data acquisition subsystem; embedded computer; ocean observation; propulsion; radio-modem; safety; telemetry communication; vehicle autonomous navigation; vehicle displacement; water column; Driver circuits; Humidity; Monitoring; Navigation; Optical fiber communication; Optical fiber sensors; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicles (AUV), 2010 IEEE/OES

Conference_Location

Monterey, CA

ISSN

1522-3167

Print_ISBN

978-1-61284-980-5

Type

conf

DOI

10.1109/AUV.2010.5779647

Filename

5779647