26 pages, 27 figures, 2 tables ; Autonomous 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. ; This work was partially supported by the project JERICO-NEXTfrom the European Commission’s Horizon 2020 research and Innovation program under Grant Agreement No. 654410. We would also like to thank the Spanish Ministerio de Economia y Competitividad under contract for the Spanish thematic network MarInTech (Ref. CTM 2015-68804-REDT (Instrumentation and Applied Technology for the Study, Characterization and Sustainable Exploration of Marine Environment, MarInTech)) for their financial support ; Peer Reviewed


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    Titel :

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



    Erscheinungsdatum :

    2018-04-01



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




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