PHA-Based Feedback Control of a Biomimetic AUV for Diver Following: Design, Simulations and Real-Time Experiments - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2022

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

Mart Ratas
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Maarja Kruusmaa

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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Dates and versions

lirmm-03720185 , version 1 (11-07-2022)

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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. pp.503-509, ⟨10.23919/ECC55457.2022.9838054⟩. ⟨lirmm-03720185⟩
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