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Ki-Beom Choo, Hyunjoon Cho, Jung-Hyeun Park, Jiafeng Huang, Dongwook Jung, Jihyeong Lee, Sang-Ki Jeong, Jongsu Yoon, Jinhun Choo and Hyeung-Sik Choi
This study focuses on faults in the thrusters of unmanned surface vehicles, which are fatal to the integrity of their missions. As for the fault conditions, the breakage of the thruster blade and the entanglement of floating objects were selected, and a ...
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Jiawen Li, Yujia Wang, Haiyan Li, Xing Liu and Zhengyu Chen
Ocean currents, mechanical collisions and electronic damage can cause faults in an autonomous underwater vehicle (AUV), including sensors and thrusters. For such problems, this paper designs a fault-tolerant controller that is independent of the results ...
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Yu Wang, Yujie Wang, Yaxin Li and Cheng Ren
This paper proposes a hybrid propulsion-based small underwater robot for robust trajectory tracking control in a harsh and complex underwater environment. The robot is equipped with a Coanda-effect jet thruster and a pair of propeller-based reconfigurabl...
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Yushan Sun, Puxin Chai, Guocheng Zhang, Tian Zhou and Haotian Zheng
In the motion control of AUVs, especially those driven by multiple thrusters, the thruster misalignment and thrust loss cause the actual force and moment applied to the AUV to deviate from that desired, making accurate and fast motion control difficult. ...
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Zichen Liu, Jing Zhou, Zhikun Wang, Haifu Zhou, Jie Chen, Xuanshuo Hu and Ying Chen
Autonomous underwater helicopter, referred to as AUH, has high maneuverability in the horizontal plane and stable movement in the vertical direction due to its disc shape. Thus, the AUH demonstrates great advantages when working in scenarios that require...
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Yevgeni Gutnik, Aviad Avni, Tali Treibitz and Morel Groper
This study presents the redesign of an existing autonomous underwater vehicle (AUV) with limited maneuverability, transforming it into a platform optimized for autonomous, near-seabed visual imaging missions. This work describes the enhancement of the AU...
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Przemyslaw Herman
This paper investigates the trajectory tracking control problem for underactuated underwater vehicles, for which a model is expressed in terms of quasi-velocities arising from the inertia matrix decomposition. The control approach takes into account non-...
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Tongjin Wei, Di Lu, Zheng Zeng and Lian Lian
In recent years, hybrid unmanned aerial underwater vehicles (HAUVs), which are capable of air?water trans-media motion, have been increasingly developed. For most HAUVs, air?water trans?media motion is a relatively dangerous and difficult process. Theref...
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Malte von Benzon, Fredrik Fogh Sørensen, Esben Uth, Jerome Jouffroy, Jesper Liniger and Simon Pedersen
This paper presents a simulation model environment for the popular and low-cost remotely operated vehicle (ROV) BlueROV2 implemented in Simulink? which has been designed and experimentally validated for benchmark control algorithms for underwater vehicle...
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Henrique Fagundes Gasparoto, Olivier Chocron, Mohamed Benbouzid and Pablo Siqueira Meirelles
Manoeuvrability is one of the essential keys in the development of improved autonomous underwater vehicles for challenging missions. In the last years, more researches were dedicated to the development of new hulls shapes and thrusters to assure more man...
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