This work presents the last trials of Guanay II AUV in
the Mediterranean Sea. Guanay II is an AUV designed to navigate
on the surface of the sea following a path and at some points it carries
out a vertical dive to take measurements of a water column. During
the last year we have focused on the design of an automatic control
and its algorithms. For the control system, we split the controller into
two loops: an inner loop and an outer loop. The first loop is
responsible for setting the yaw ¿ and the forward velocity u, given a
reference (¿ref, uref). At this level we develop a fuzzy controller
which integrates the different linear controllers adjusted for different
forward velocities. The second loop is responsible for setting the
reference for yaw and forward velocity for a given path.
The mission consisted of following 13 waypoints along a total
journey of 3600m with three vertical dives up to 5m of deep. Through
this test the operability of the vehicle was validated and different
designed controllers were also tested. During this mission, a set of
measurements of salinity and temperature were obtained.
CitationMasmitja, I., González, J., Galarza, C., Gomariz, S., Prat, J., Del Rio, J. Vilanova sea trials of Guanay II AUV. A: International Workshop on Marine Technology. "MARTECH 2015 : Sixth International Workshop on Marine Technology : Cartagena, September 15th, 16th and 17th". Cartagena: 2015, p. 30-33.
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