Modeling and Control of a Micro AUV: Objects Follower Approach

被引：8

作者：

Arturo Monroy-Anieva, Jesus ^{[1
,2
,5
]}

Rouviere, Cyril ^{[3
]}

Campos-Mercado, Eduardo ^{[4
]}

Salgado-Jimenez, Tomas ^{[1
,5
]}

Govinda Garcia-Valdovinos, Luis ^{[1
,5
]}

机构：

[1] Ctr Engn & Ind Dev CIDESI, Energy Div, Santiago De Queretaro 76125, Queretaro, Mexico

[2] UPT, Automat & Control Dept, Tulancingo 43629, Hidalgo, Mexico

[3] ENSTA, F-29806 Brest, France

[4] Univ Istmo Tehuantepec UNISTMO, CONACYT, Tehuantepec 70760, Oaxaca, Mexico

[5] Av Playa Pie Cuesta 702, Santiago De Queretaro 76125, Queretaro, Mexico

来源：

SENSORS | 2018年 / 18卷 / 08期

关键词：

submarine robot; modeling; control; embedded system; micro vehicle; nonlinear PD; stability; computer vision;

D O I：

10.3390/s18082574

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle (mu-AUV), named AR2D2. The main objective of this work is to make the vehicle to detect and follow an object with defined color by means of the readings of a depth sensor and the information provided by an artificial vision system. A nonlinear PD (Proportional-Derivative) controller is implemented on the vehicle in order to stabilize the heave and surge movements. A formal stability proof of the closed-loop system using Lyapunov's theory is given. Furthermore, the performance of the mu-AUV is validated through numerical simulations in MatLab and real-time experiments.

引用

页数：18

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