Design and development of an autonomous underwater vehicle test-bed (USM-AUV I)

Author

Arshad, Mohd Rizal ; Radzak, Mohamed Yusof

Author_Institution

Sch. of Electr. & Electron. Eng., Univ. Sci. of Malaysia, Pulau Pinang, Malaysia

Volume

1

fYear

2004

fDate

6-9 Dec. 2004

Firstpage

257

Abstract

In this paper, the development of an underwater robotic vehicle is described. The description includes the mechanical and controller design, and the sensor integration. The vehicle has been designed to have a dimension 1.0 m long, 0.7 m wide and with a mass of 30 kg. The USM-AUV I was designed mainly for testing conventional and advanced control algorithms. The vehicle directional control was performed by two thrusters in the horizontal plane while depth control by two thrusters in the vertical plane. There are several sensors which are used as feedback elements for the vehicle control system of vehicle. The AUV is also equipped with camera for monitoring purposes. This pan-tilt-zoom camera mounted in the upper enclosure, serves to assist in the close up viewing of objects without moving the whole vehicle. For beginning, this research is limited to a depth between 0 - 50 meters.

Keywords

cameras; control system synthesis; mobile robots; position control; sensors; underwater vehicles; 30 kg; USM-AUV I; autonomous underwater vehicle test-bed; controller design; depth control; mechanical design; pan-tilt-zoom camera; sensor integration; underwater robotic vehicle; vehicle directional control; Algorithm design and analysis; Cameras; Mechanical sensors; Mobile robots; Remotely operated vehicles; Robot sensing systems; Sensor phenomena and characterization; Sensor systems; Testing; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th

Print_ISBN

0-7803-8653-1

Type

conf

DOI

10.1109/ICARCV.2004.1468833

Filename

1468833