Development of a Hovering-Type Intelligent Autonomous Underwater Vehicle, P-SURO

Li, Jihong; Park, Sung-Kook; Oh, Sang-Rok; Suh, Gyeong-Hwan Yoon Jin-Ho; Baek, Myeong-Sook

doi:10.5772/24620

Cited by 8 publications

(3 citation statements)

References 24 publications

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“…Similar to its predecessor P-SURO AUV [6], P-SURO II is designed to have two separated pressure hulls, one is for battery system (or power system and fiber optic modem in ROV mode) and the other one is for electronic system. Main frame and two pressure hulls are made of AL-6061, the lift hook is of stainless, and the sensor fixing parts are made of POM.…”

Section: B Mechanical Systemmentioning

confidence: 99%

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Development of P-SURO II hybrid AUV and its experimental study

Lee

Park

et al. 2013

2013 MTS/IEEE OCEANS - Bergen

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P-SURO II is a hybrid AUV which can be operated in both of ROV and AUV modes. The AUV mode is supposed to carry out some of underwater missions which are difficult to be accomplished by ROV mode due to its tether cable. To complete the underwater missions such as inspection and maintenance of complex structures in AUV mode, the vehicle is required to have high level of autonomy including obstacle avoidance, autonomous navigation, and so on. In this paper, we will discuss some of systematic and algorithmic issues in the development of such kind hybrid vehicles. Experimental studies on the development of underwater hybrid inertial navigation system and SLAM (simultaneous localization and mapping) method in a certain water tank environment are also discussed.

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Section: B Mechanical Systemmentioning

confidence: 99%

“…And this usually require the vehicle's on-board control system to assess kind of behavioral architecture [8]. Under these considerations, certain hybrid control architecture, which is similar to the one in [6], is designed for P-SURO II AUV.…”

Section: Surface Control Unitmentioning

confidence: 99%

Development of P-SURO II hybrid AUV and its experimental study

Lee

Park

et al. 2013

2013 MTS/IEEE OCEANS - Bergen

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“…The paper [12] discusses fault-tolerant control of a hovering underwater vehicle with four horizontal thrusters and two vertical thrusters. Besides, meaningful explorations have been carried out on AUV hover depth control, including hover motion modeling and simulation ( [13], [14], [15], [16]), test platform construction ( [17], [18]), high-performance control algorithm( [7], [8]), etc.…”

Section: Introductionmentioning

confidence: 99%

Research on the Heading Control of Underwater Vehicle Under Hover Condition

et al. 2020

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A guidance and control algorithm for the heading control of a large underwater vehicle in hover state is proposed. The complexity of the flow field makes it difficult to build an accurate mathematical model for heading control under hover condition. Furthermore, the turning motion in the hover state causes additional vertical hydrodynamic and pitching moments which may affect the control performance of depth and pitching, and even bring safety problems. An H ∞ synthesis method is proposed, in which guidance weighting function is designed for the heading control constraints, sensitivity weighting function for the tracking performance requirements, and uncertainty weighting function for modeling error. Firstly, the hydrodynamic characteristics and constraints of hover and steering are analyzed, and the mathematical model is established. Secondly, based on the analysis of the affection of steering motion on depth and trim state, a control strategy is proposed to suppress interference by setting steering speed and limiting acceleration, which improves the safety of the control algorithm. And then, a H ∞ robust control algorithm based on three kinds of weighting function is designed. Finally, the method is simulated by using submarine model and validated by underwater vehicle experiment.The research in this paper has potential application value for safety and low noise performance for the control of large underwater platform and manned submarines.

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Concept Design

Zhao

2022

Encyclopedia of Ocean Engineering

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Development of a Hovering-Type Intelligent Autonomous Underwater Vehicle, P-SURO

Cited by 8 publications

References 24 publications

Development of P-SURO II hybrid AUV and its experimental study

Development of P-SURO II hybrid AUV and its experimental study

Research on the Heading Control of Underwater Vehicle Under Hover Condition

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