Modeling and Control of a Micro AUV: Objects Follower Approach

Autor:	Jesus Arturo Monroy-Anieva, Cyril Rouviere, Eduardo Campos-Mercado, Tomas Salgado-Jimenez, Luis Govinda Garcia-Valdovinos
Jazyk:	angličtina
Rok vydání:	2018
Předmět:	submarine robot modeling control embedded system micro vehicle nonlinear PD stability computer vision Chemical technology TP1-1185
Zdroj:	Sensors, Vol 18, Iss 8, p 2574 (2018)
Druh dokumentu:	article
ISSN:	1424-8220
DOI:	10.3390/s18082574
Popis:	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 the μ-AUV is validated through numerical simulations in MatLab and real-time experiments.
Databáze:	Directory of Open Access Journals
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