Development Of Small Shallow Water Underwater Robot Based On Arduino

With the continuous development of human society,marine resources have been paid more and more attention,and underwater robots have gained broad application prospects.To solve the problems of poor top-flow operation capability and difficult motion control of small ROV in shallow water environments such as offshore platforms,the ROV Spirit based on Arduino small shallow water operation has been developed.Firstly,the overall design scheme has been determined,the specific application technical parameters have been proposed,the form,materials,sealing and anti-corrosion measures of the pressure-resistant structure have been introduced,the design and verification of the pressure-resistant structure have been completed,and the performance has been verified with simulation tools.The control system architecture with Arduino mega 2560 as the core controller and Arduino as the core is proposed.The surface operation terminal and the underwater control terminal are built.The upper and lower system communication is established through serial communication,and the image information transmission is completed.The coordinate system of the underwater vehicle system is studied,the dynamic model of the Elf ROV is established,the heading motion transfer function is solved,PID controller,fuzzy PID controller and single-input fuzzy PID controller are designed for heading motion control,and the three algorithms are simulated in Simulink environment.Compared with the other two controllers,the single-input fuzzy PID algorithm has faster response,less overshoot and stable system.Finally,the performance of the pressure-resistant structure was tested through experiments.The feasibility of the design of shallow water ROV control system with Arduino as the core was verified through pool experiments.At the same time,the actual effect of thrust vector synthesis was verified.The single-input fuzzy PID algorithm has obvious effect on the heading motion of the robot.