Orientation and depth control in rippling water for an autonomous underwater robot

Roland Dóczi, Bence Takács, Balász Sütő, Tamás Haidegger, Miklos Kozlovszky, J. Tar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper describes an algorithmic solution for simple and efficient underwater orientation and depth control. Maintaining a position with an underwater robot is a difficult task. In the case of an Autonomous Underwater Vehicles (AUVs), not only the underwater conditions, but also the environmental effects off the surface need to be considered. There is a large number of algorithms have been designed by researchers based on computer vision, sensor fusion, etc. to estimate the location precisely, yet most of them are specific for the given hardware. Our solution employs a multi-sensor fusion based algorithm, where the data is taken from magnetic and pressure sensors. A PID controller was designed and implemented to ensure proper orientation keeping and depth control in rippling water. The solution has been tested in various environments, and successfully used during the marine challenges of the euRathlon 2015 competition.

Original languageEnglish
Title of host publicationAdvances in Robot Design and Intelligent Control -Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region, RAAD16
PublisherSpringer Verlag
Pages328-337
Number of pages10
Volume540
ISBN (Print)9783319490571
DOIs
Publication statusPublished - 2017
Event25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 - Belgrade, Serbia
Duration: Jun 30 2016Jul 2 2016

Publication series

NameAdvances in Intelligent Systems and Computing
Volume540
ISSN (Print)21945357

Other

Other25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016
CountrySerbia
CityBelgrade
Period6/30/167/2/16

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Keywords

  • Autonomous underwater vehicle
  • AUV depth control
  • Response robotics
  • Underwater navigation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

Cite this

Dóczi, R., Takács, B., Sütő, B., Haidegger, T., Kozlovszky, M., & Tar, J. (2017). Orientation and depth control in rippling water for an autonomous underwater robot. In Advances in Robot Design and Intelligent Control -Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region, RAAD16 (Vol. 540, pp. 328-337). (Advances in Intelligent Systems and Computing; Vol. 540). Springer Verlag. https://doi.org/10.1007/978-3-319-49058-8_36