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

Design and Control of a Flight-Style AUV with Hovering Capability
Design and Control of a Flight-Style AUV with Hovering Capability
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.
[9p]
Autonomous Undersea Systems Institute
Liu, J.
516e902e-000e-4f9c-b9bc-bac18b1f5ade
Furlong, M.E.
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Palmer, A.
290ccfb9-1f97-481a-ab39-d5d6ae5383e6
Phillips, A.B.
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Turnock, S.R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Sharkh, S.M.
c8445516-dafe-41c2-b7e8-c21e295e56b9
Liu, J.
516e902e-000e-4f9c-b9bc-bac18b1f5ade
Furlong, M.E.
332e9aef-8c6b-452f-8b85-712492767458
Palmer, A.
290ccfb9-1f97-481a-ab39-d5d6ae5383e6
Phillips, A.B.
f565b1da-6881-4e2a-8729-c082b869028f
Turnock, S.R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Sharkh, S.M.
c8445516-dafe-41c2-b7e8-c21e295e56b9

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. Autonomous Undersea Systems Institute. [9p] .

Record type: Conference or Workshop Item (Paper)

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.

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More information

Published date: 2009
Additional Information: Proceedings issued on CDROM
Venue - Dates: UUST 09, Durham NH, USA, 2009-08-22 - 2009-08-25
Organisations: Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 68010
URI: http://eprints.soton.ac.uk/id/eprint/68010
PURE UUID: 445f1ece-1a7f-44c9-b0b7-eac5a93375f1
ORCID for A.B. Phillips: ORCID iD orcid.org/0000-0003-3234-8506
ORCID for S.R. Turnock: ORCID iD orcid.org/0000-0001-6288-0400
ORCID for S.M. Sharkh: ORCID iD orcid.org/0000-0001-7335-8503

Catalogue record

Date deposited: 02 Sep 2009
Last modified: 08 Jun 2022 01:34

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Contributors

Author: J. Liu
Author: M.E. Furlong
Author: A. Palmer
Author: A.B. Phillips ORCID iD
Author: S.R. Turnock ORCID iD
Author: S.M. Sharkh ORCID iD

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