Research On Motion Control Of Autonomous Underwater Vehicle

The ocean monitoring technology is the significant guarantee for research of ocean science and explore of ocean resource. Autonomous Underwater Vehicle (AUV) is the platform of ocean monitoring instruments and the key equipment for obtaining ocean monitoring data. Basing on the independently developed AUV that has ability of landing and sitting bottom with variable buoyancy system, this paper describes the overall structure of the AUV. Also the dynamic model of the AUV is formulated. Then, we designed the fuzzy PID controller. Last, obstacle avoidance and formation of AUV is dealed with.According to the PID parameters tuning problem, this pager design fuzzy PID controller. This controller makes use of expert experience in PID parameter tuning, and the controller has the merits of both fuzzy control and PID control. With this controller, the robustness of the system can be enhanced.According to the obstacle avoidance when AUV navigating underwater, this paper presents a kind of sonar-based strategy of obstacle avoidance. This strategy determines the characteristics of the barrier with the data detected by sonar. Then AUV can avoid the barrier successfully.It is inevitable to develop multiple robot system in the future. And formation is the basis of multiple underwater robot system. We deal with the formation of multi-AUV in this paper. Virtual-leader based formation strategy is presented. Formation feedback added to this strategy guarantees the reliability of the formation control.