Design, construction and manufacturing of the control system of an underwater robot

Abstract

In our time we have seen a lot of development in the design and development in the unmanned underwater vehicle for civil and military purposes. A great array of vehicle types and applications has been produced along with wide range of innovative approaches for enhancing the performance of underwater robot. Key technology advances in the relevant area include battery technology, fuel cells, underwater communications, and propulsion system and sensor fusion. These recent advances enable the extension of underwater robot’s flight envelop comparable to that of manned vehicles. For undertaking longer missions, therefore more advanced control and navigation will be required to maintain an accurate position over larger operational envelop particularly when a close proximity to obstacles(such as manned vehicles, pipelines and underwater structure ) is involved. In this case a sufficient good model is prerequisite of control system design. The thesis is focused on discussion on advanced cheap design from modeling, control and guidance perspectives. Lessons learned from recent achievements.