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Article Dans Une Revue Sensors Année : 2018

Modeling and Control of a Micro AUV: Objects Follower Approach

Résumé

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.

Dates et versions

hal-01917091 , version 1 (09-11-2018)

Identifiants

Citer

Jesus Monroy-Anieva, Cyril Rouvière, Eduardo Campos-Mercado, Tomas Salgado-Jimenez, Luis Garcia-Valdovinos. Modeling and Control of a Micro AUV: Objects Follower Approach. Sensors, 2018, 18 (8), pp.2574. ⟨10.3390/s18082574⟩. ⟨hal-01917091⟩
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