| Autor: |
Tasuku Miyoshi, Kazuyuki Satoh, Kenta Asaishi |
| Rok vydání: |
2018 |
| Předmět: |
|
| Zdroj: |
Journal of Aquaculture & Marine Biology. 7 |
| ISSN: |
2378-3184 |
| DOI: |
10.15406/jamb.2018.07.00210 |
| Popis: |
The purpose of this study was to develop a novel seabed surveying AUV with a spatial control system which is consisted manages depth attitude and line tracing simultaneously Our novel AUV named SASSY equipped the vector thrusters to generate appropriate thrust force for task demands In this study we demonstrate the basic specifications of attitude depth and line trace control based on the PID controller with limit sensitivity detection methods To measure the depth control capability step and frequency responses had been measured to construct the plant model of SASSY using a Bode diagram To trace the guide rope set on the seabed the attitude angle of the yaw direction was controlled using incline deviations between SASSY rsquo s direction and the center of the guide rope To verify the depth and attitude controller of SASSY two video transect experiments had been conducted in a simulated environment with static water conditions and in real sea of Ofunato Bay The mosaicing images were constructed in each experiment suggesting that SASSY rsquo s depth and attitude controller was able to record photographs of the seabed purposely |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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