Wang Quanshan, Han Tao, Fan Chuanzhi, Yang Yi, Hu Zhiqiang
{"title":"Design and Research for the Control System of a Micro Autonomous Underwater Vehicle","authors":"Wang Quanshan, Han Tao, Fan Chuanzhi, Yang Yi, Hu Zhiqiang","doi":"10.1109/RCAE56054.2022.9995877","DOIUrl":null,"url":null,"abstract":"A three-inch diameter Micro Autonomous Underwater Vehicle(Micro AUV) control system was designed and developed, of which the hardware and software control platform based on the MOOS System and BeagleBone Black as the core microcontroller was built. Based on the structure and navigation features of the Micro AUV, a cascade PID controller was designed for the Micro AUV to sail underwater with a certain heading and depth. Finally, the validity and reliability of the control system and controller were verified by the underwater experiments in the lake.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RCAE56054.2022.9995877","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
A three-inch diameter Micro Autonomous Underwater Vehicle(Micro AUV) control system was designed and developed, of which the hardware and software control platform based on the MOOS System and BeagleBone Black as the core microcontroller was built. Based on the structure and navigation features of the Micro AUV, a cascade PID controller was designed for the Micro AUV to sail underwater with a certain heading and depth. Finally, the validity and reliability of the control system and controller were verified by the underwater experiments in the lake.
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