Abstract

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 theμ-AUV is validated through numerical simulations in MatLab and real-time experiments.

Details

Title
Modeling and Control of a Micro AUV: Objects Follower Approach
Author
Monroy-Anieva, Jesus Arturo; Rouviere, Cyril; Campos-Mercado, Eduardo; Salgado-Jimenez, Tomas; Garcia-Valdovinos, Luis Govinda
First page
2574
Publication year
2018
Publication date
2018
Publisher
MDPI AG
e-ISSN
14248220
Source type
Scholarly Journal
Language of publication
English
DOI
https://doi.org/10.3390/s18082574
ProQuest document ID
2108866149
Copyright
© 2018. This work is licensed under https://creativecommons.org/licenses/by/4.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.