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New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy
dc.contributor.author | Masmitjà Rusiñol, Ivan |
dc.contributor.author | González Agudelo, Julián |
dc.contributor.author | Galarza Bogotá, Cesar Mauricio |
dc.contributor.author | Gomáriz Castro, Spartacus |
dc.contributor.author | Aguzzi, Jacopo |
dc.contributor.author | Río Fernandez, Joaquín del |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica |
dc.date.accessioned | 2018-04-20T16:24:11Z |
dc.date.available | 2018-04-20T16:24:11Z |
dc.date.issued | 2018-04-17 |
dc.identifier.citation | Masmitja, I., González, J., Galarza, C., Gomariz, S., Aguzzi, J., Del Rio, J. New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy. "Sensors", 17 Abril 2018, vol. 18, núm. 4, 1241, p. 1-26. |
dc.identifier.issn | 1424-8220 |
dc.identifier.uri | http://hdl.handle.net/2117/116526 |
dc.description.abstract | Autonomous Underwater Vehicles (AUV) are proving to be a promising platform design for multidisciplinary autonomous operability with a wide range of applications in marine ecology and geoscience. Here, two novel contributions towards increasing the autonomous navigation capability of a new AUV prototype (the Guanay II) as a mix between a propelled vehicle and a glider are presented. Firstly, a vectorial propulsion system has been designed to provide full vehicle maneuverability in both horizontal and vertical planes. Furthermore, two controllers have been esigned, based on fuzzy controls, to provide the vehicle with autonomous navigation capabilities. Due to the decoupled system propriety, the controllers in the horizontal plane have been designed separately from the vertical plane. This class of non-linear controllers has been used to interpret inguistic laws into different zones of functionality. This method provided good performance, used as interpolation between different rules or linear controls. Both improvements have been validated through simulations and field tests, displaying good performance results. Finally, the conclusion of this work is that the Guanay II AUV has a solid controller to perform autonomous navigation and carry out vertical immersions |
dc.format.extent | 26 p. |
dc.language.iso | eng |
dc.publisher | Multidisciplinary Digital Publishing Institute (MDPI) |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Nàutica::Enginyeria naval |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.lcsh | Autonomous vehicles |
dc.subject.other | propulsion system |
dc.subject.other | AUV |
dc.subject.other | autonomous vehicle |
dc.subject.other | linear control |
dc.subject.other | fuzzy control |
dc.subject.other | automatic navigation |
dc.subject.other | thruster vectorial control |
dc.title | New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy |
dc.type | Article |
dc.subject.lemac | Vehicles autònoms |
dc.subject.lemac | Vehicles submergibles |
dc.contributor.group | Universitat Politècnica de Catalunya. SARTI - Centre de Desenvolupament Tecnològic de Sistemes d'Adquisició Remota i Tractament de la Informació |
dc.contributor.group | Universitat Politècnica de Catalunya. SARTI-MAR - Sistemes d'Adquisició Remota de dades i Tractament de la Informació en el Medi Marí |
dc.identifier.doi | 10.3390/s18041241 |
dc.relation.publisherversion | http://www.mdpi.com/1424-8220/18/4/1241 |
dc.rights.access | Open Access |
local.identifier.drac | 22415527 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/H2020/654410/EU/Joint European Research Infrastructure network for Coastal Observatory – Novel European eXpertise for coastal observaTories/JERICO-NEXT |
local.citation.author | Masmitja, I.; González, J.; Galarza, C.; Gomariz, S.; Aguzzi, J.; Del Rio, J. |
local.citation.publicationName | Sensors |
local.citation.volume | 18 |
local.citation.number | 4, 1241 |
local.citation.startingPage | 1 |
local.citation.endingPage | 26 |
dc.identifier.pmid | 29673224 |
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