Modeling and Control of a Micro AUV: Objects Follower Approach

This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle ([Formula: see text]-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...

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Detalles Bibliográficos
Autores principales: Monroy-Anieva, Jesus Arturo, Rouviere, Cyril, Campos-Mercado, Eduardo, Salgado-Jimenez, Tomas, Garcia-Valdovinos, Luis Govinda
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2018
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6111779/
https://www.ncbi.nlm.nih.gov/pubmed/30082631
http://dx.doi.org/10.3390/s18082574
Descripción
Sumario:This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle ([Formula: see text]-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 [Formula: see text]-AUV is validated through numerical simulations in MatLab and real-time experiments.

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