INTEGRATION OF GUIDANCE AND CONTROL SYSTEMS USING PATH FOLLOWING METHOD IN HYBRID UNDERWATER GLIDER
Hybrid Underwater Glider (HUG) is a type of Autonomous Underwater Vehicle (AUV) that can perform gliding and propulsion movements. One of the main missions of the HUG is bathymetry or underwater mapping. However, HUG faces a high risk of damage while operating under water caused by collision with...
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/51120 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Hybrid Underwater Glider (HUG) is a type of Autonomous Underwater Vehicle
(AUV) that can perform gliding and propulsion movements. One of the main
missions of the HUG is bathymetry or underwater mapping. However, HUG faces a
high risk of damage while operating under water caused by collision with static
underwater obstacles. Therefore, a system in the HUG is needed to make a path
between the waypoints and move the HUG to follow said path. The system will
implement the Path Following guidance goal by integrating the guidance and
control system in HUG. The guidance system functions to create a path between
each waypoint and direct the HUG to follow the path, while the control system
funcions to move the actuators within the HUG to follow said path. The systems
implemented in software form using ROS and in hardware form in ITB-HUG. The
results with HILS show that ITB-HUG can perform a 1000 m long and 100 m deep
gliding movement as well as a 50x50 m2
lawnmower pattern with a maximum crosstrack error of 6.269 m in the XY plane and 0.072 m in the XZ plane. |
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