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Nonlinear dynamics of autonomous underwater vehicles in ocean currents

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Date Issued:
2015
Abstract/Description:
Ocean is human’s last frontier on Earth with most of its space inaccessible to human and remains largely unexplored. For the protection of our ocean and its sound development, unmanned autonomous underwater vehicle AUV, plays an increasingly important role. However, today’s AUV can’t function in a strong current environment. Propeller-driven AUVs typically move at speeds of up to 1.5-2.0 m/s, and thus strong ocean currents could push AUVs way from the planned paths. And their control surfaces may not work properly, especially when AUVs are maneuvering. Extra thrusters may be added to improve the maneuverability, yet the endurances of the vehicles will be shortened since extra thrusters consume more power. On the other hand, buoyancy-driven underwater gliders, using internal actuators, are characterized by long endurance. However, gliders typically move at horizontal speeds of about 0.3 m/s, which make gliders unsuitable for the missions in strong ocean currents. In the present research, a hybrid AUV design will be studied which combines the capabilities of both AUVs and underwater gliders. The proposed AUV will be propeller-driven yet the maneuverability of the vehicle in both horizontal and vertical planes will be achieved by using internal actuators instead of control surfaces and extra thrusters. The research will mainly focus on the control strategy of an AUV in a horizontal plane by using internal actuators to exploit the vehicle’s coupling effect of the roll motion on horizontal motions to maneuver AUV in a strong current environment.
Title: Nonlinear dynamics of autonomous underwater vehicles in ocean currents.
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Name(s): Li, Bo
Su, Tsung-Chow
Graduate College
Type of Resource: text
Genre: Poster
Date Created: 2015
Date Issued: 2015
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 1 p.
Language(s): English
Abstract/Description: Ocean is human’s last frontier on Earth with most of its space inaccessible to human and remains largely unexplored. For the protection of our ocean and its sound development, unmanned autonomous underwater vehicle AUV, plays an increasingly important role. However, today’s AUV can’t function in a strong current environment. Propeller-driven AUVs typically move at speeds of up to 1.5-2.0 m/s, and thus strong ocean currents could push AUVs way from the planned paths. And their control surfaces may not work properly, especially when AUVs are maneuvering. Extra thrusters may be added to improve the maneuverability, yet the endurances of the vehicles will be shortened since extra thrusters consume more power. On the other hand, buoyancy-driven underwater gliders, using internal actuators, are characterized by long endurance. However, gliders typically move at horizontal speeds of about 0.3 m/s, which make gliders unsuitable for the missions in strong ocean currents. In the present research, a hybrid AUV design will be studied which combines the capabilities of both AUVs and underwater gliders. The proposed AUV will be propeller-driven yet the maneuverability of the vehicle in both horizontal and vertical planes will be achieved by using internal actuators instead of control surfaces and extra thrusters. The research will mainly focus on the control strategy of an AUV in a horizontal plane by using internal actuators to exploit the vehicle’s coupling effect of the roll motion on horizontal motions to maneuver AUV in a strong current environment.
Identifier: FA00005895 (IID)
Collection: FAU Student Research Digital Collection
Note(s): The Sixth Annual Graduate Research Day was organized by Florida Atlantic University’s Graduate Student Association. Graduate students from FAU Colleges present abstracts of original research and posters in a competition for monetary prizes, awards, and recognition.
Held by: Florida Atlantic University Libraries
Sublocation: Digital Library
Persistent Link to This Record: http://purl.flvc.org/fau/fd/FA00005895
Use and Reproduction: Copyright © is held by the author with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.