Design and Control of a Flight-Style AUV with Hovering Capability


Liu, J., Furlong, M.E., Palmer, A., Phillips, A.B., Turnock, S.R. and Sharkh, S.M. (2009) Design and Control of a Flight-Style AUV with Hovering Capability. In, Proceedings of the International Symposium on Unmanned Untethered Submersible Technology (UUST 2009), Durham, New Hampshire, 23-26 August 2009. UUST 09 Durham NH, USA, Autonomous Undersea Systems Institute (AUSI), [9p].

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Description/Abstract

The small flight-style Delphin AUV is designed to evaluate the performance of a long range survey AUV with the additional capability to hover and manoeuvre at slow speed. Delphin’s hull form is based on a scaled version of Autosub6000, and in addition to the main thruster and control surfaces at the rear of the vehicle, Delphin is equipped with four rim driven tunnel thrusters. In order to reduce the development cycle time, Delphin was designed to use commercial-off-the-shelf (COTS) sensors and thrusters interfaced to a standard PC motherboard running the control software within the MS Windows environment. To further simplify the development, the autonomy system uses the State-Flow Toolbox within the Matlab/Simulink environment. While the autonomy software is running, image processing routines are used for obstacle avoidance and target tracking, within the commercial Scorpion Vision software. This runs as a parallel thread and passes results to Matlab via the TCP/IP communication protocol. The COTS based development approach has proved effective. However, a powerful PC is required to effectively run Matlab and Simulink, and, due to the nature of the Windows environment, it is impossible to run the control in hard real-time. The autonomy system will be recoded to run under the Matlab Windows Real-Time Windows Target in the near future. Experimental results are used to demonstrating the performance and current capabilities of the vehicle are presented.

Item Type: Book Section
Additional Information: Proceedings issued on CDROM
Subjects: V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
Divisions: University Structure - Pre August 2011 > School of Engineering Sciences > Fluid-Structure Interactions
University Structure - Pre August 2011 > School of Engineering Sciences > Electro-Mechanical Engineering
University Structure - Pre August 2011 > National Oceanography Centre (NERC)
ePrint ID: 68010
Date Deposited: 02 Sep 2009
Last Modified: 27 Mar 2014 18:48
Publisher: Autonomous Undersea Systems Institute (AUSI)
URI: http://eprints.soton.ac.uk/id/eprint/68010

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