Autonomous Underwater Vehicle control
Tipus de documentArticle
EditorSARTI (Technological Development Centre of Remote Acquisition and Data processing Systems. Technical University of Catalonia (UPC).
Condicions d'accésAccés obert
In this paper the system control design stages for an autonomous underwater vehicle are presented. The vehicle must be able to sail on sea surface, following a path without losing its route and once a position is reached, a dive following a perpendicular path to the surface is carried out. A two level system control are proposed. The primary level will control the navigation of the vehicle where a linear controllers are proposed. Whereas in secondary level guidance system, collision system, start, stop and abort mission events will be ordered by neuro-fuzzy control. The implementation of these algorithms will be supported by a Motorola Coldfire family microcontroller (MCF5272).