A navigation system play essential roles in Autonomous Underwater Vehicle (AUV) research. However, controlling an AUV is still challenged with environmental interference, highly nonlinear properties of vehicles, complexity of the hydrodynamics and kinematics. Various methods with complex computation are required to control AUV position. A lot of resource and power is required for complex computation. This paper proposed an alternative method for navigating AUV by combining PID based depth control system and line tracking algorithm. This method was applied on Three Degree of Freedom (3DOF) reference frames dynamic model — Surge, Heave, and Yaw. Meanwhile, the navigation system was used to manage DC motors on SANDY (Smartphone-based Autonomous Underwater System), a micro-size AUV that developed by Robotic — SAS team from Telkom University, Indonesia. Experiments involving simulation and water-tank test indicate that the system is successfully implemented and provide a series of data to use for future works.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Navigation system for smartphone-based autonomous underwater vehicle




    Publication date :

    2017-11-01


    Size :

    594150 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Autonomous Underwater Vehicle Navigation

    Leonard, John J. / Bahr, Alexander | Springer Verlag | 2016


    Autonomous Underwater Vehicle Navigation

    Cannon, S. / Smith, J. / Institute of Navigation et al. | British Library Conference Proceedings | 1995



    A vision-based system for autonomous underwater vehicle navigation

    Foresti, G.L. / Gentili, S. / Zampato, M. | Tema Archive | 1998


    Sensor Based Navigation of an Autonomous Underwater Vehicle

    Cristi, R. / Northeastern University; Marine Systems Engineering Laboratory | British Library Conference Proceedings | 1993