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PHA-Based Feedback Control of a Biomimetic AUV for Diver Following: Design, Simulations and Real-Time Experiments

Mart Ratas 1 Ahmed Chemori 2 Maarja Kruusmaa 1 
2 DEXTER - Robotique médicale et mécanismes parallèles
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with the use of a passive hydrophone array (PHA) for following non-stationary underwater objects with a miniature biomimetic autonomous underwater vehicle. Current acoustic underwater localization systems are large and expensive. They are not well suited for using on miniature, low-cost underwater vehicles. However, compact size and low cost are necessary when developing autonomous vehicles that can be widely used by recreational and professional divers. As an alternative, a simple hydrophone array is developed for a biomimetic 4-flipper U-CAT AUV (Autonomous Underwater Vehicle). The array is used to measure the bearing of a single acoustic beacon. Two control approaches are proposed for navigating the vehicle towards the beacon. The whole system is validated both in a simulator and in a natural environment using two scenarios: 1) navigating towards a stationary beacon and 2) navigating towards a beacon mounted on a diver. The results show that the proposed control system is a viable approach to be used for diver following.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-03720185
Contributor : Ahmed Chemori Connect in order to contact the contributor
Submitted on : Monday, July 11, 2022 - 5:25:22 PM
Last modification on : Thursday, October 13, 2022 - 8:24:08 AM

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ECC22_0506_FI.pdf
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  • HAL Id : lirmm-03720185, version 1

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Mart Ratas, Ahmed Chemori, Maarja Kruusmaa. PHA-Based Feedback Control of a Biomimetic AUV for Diver Following: Design, Simulations and Real-Time Experiments. ECC 2022 - European Control Conference, Jul 2022, London, United Kingdom. ⟨lirmm-03720185⟩

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