Development stages of a semi-autonomous underwater vehicle experiment platform

International Journal of Advanced Robotic Systems

article

YILMAZ Serhat¹ 

[1]Department of Electronics and Telecommunication Engineering, Faculty of Engineering, Kocaeli University

关键词: Control card;    user interface;    depth control;    heading control;    robotic vision;    CFD;    manipulator;    underwater vehicle;   

DOI  :  10.1177/17298806221103710

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

The design of underwater unmanned vehicles is an interdisciplinary study that includes several fields, such as computational fluid dynamics, modeling and control of systems, robotics, image processing, and electronic card design. The operational cost of such vehicles is high because it is dependent on variable fluid properties like salinity and high pressure while its’ mobility must be resistant to environmental conditions such as undersea. The study describes an operating platform, called Lucky Fin, on which the students can develop various control algorithms and can test and extract hydrodynamic parameters of the underwater vehicle. The platform consists of an underwater vehicle and two testing tanks. The control card, the user control program interface, and a manipulator’s arm are designed to be used for a series of control applications such as depth, heading, target tracking, and capturing. The results of several tests are illustrated in this article.

【 授权许可】

CC BY