Design and development of an Autonomous Underwater Vehicle (AUV) with fuzzy logic based controller

Autonomous underwater vehicles (AUVs) have become an integral part in helping humans do underwater explorations more efficiently and safely since these vehicles can stay underwater so much longer than any human can possibly do and they require little or almost no human interaction. These vehicles ar...

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Main Author: David, Kanny Krizzy Abulad
Format: text
Language:English
Published: Animo Repository 2013
Online Access:https://animorepository.dlsu.edu.ph/etd_masteral/4355
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Institution: De La Salle University
Language: English
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spelling oai:animorepository.dlsu.edu.ph:etd_masteral-111932021-01-18T01:40:12Z Design and development of an Autonomous Underwater Vehicle (AUV) with fuzzy logic based controller David, Kanny Krizzy Abulad Autonomous underwater vehicles (AUVs) have become an integral part in helping humans do underwater explorations more efficiently and safely since these vehicles can stay underwater so much longer than any human can possibly do and they require little or almost no human interaction. These vehicles are commonly subject to unpredictable nature of the underwater environment causing problems in their navigation. This research aims to develop and design an underwater vehicle capable of navigating autonomously underwater. This vehicle is equipped with sensors such as ultrasonic sensors, accelerometer, gyroscope and magnetometer which are used to detect obstacles along the path of the vehicle and correct the vehicles heading. The intelligence of the AUV includes a two fuzzy logic block, namely Motion Control block and Heading Correction block. The fuzzy logic controller takes in target positions in X, Y and Z axes. Also, the heading error and rate of heading error are included as inputs in order to correct the bearing or direction of the vehicle. A heuristic and integration stage is also included after these fuzzy logic blocks for vehicles collision avoidance. The controller output parameters are the adjusted thrusters speeds which dictate the six thrusters speed and direction. With the proper output commands from this controller, the vehicle will be able to navigate in its predefined destination. 2013-01-01T08:00:00Z text https://animorepository.dlsu.edu.ph/etd_masteral/4355 Master's Theses English Animo Repository
institution De La Salle University
building De La Salle University Library
continent Asia
country Philippines
Philippines
content_provider De La Salle University Library
collection DLSU Institutional Repository
language English
description Autonomous underwater vehicles (AUVs) have become an integral part in helping humans do underwater explorations more efficiently and safely since these vehicles can stay underwater so much longer than any human can possibly do and they require little or almost no human interaction. These vehicles are commonly subject to unpredictable nature of the underwater environment causing problems in their navigation. This research aims to develop and design an underwater vehicle capable of navigating autonomously underwater. This vehicle is equipped with sensors such as ultrasonic sensors, accelerometer, gyroscope and magnetometer which are used to detect obstacles along the path of the vehicle and correct the vehicles heading. The intelligence of the AUV includes a two fuzzy logic block, namely Motion Control block and Heading Correction block. The fuzzy logic controller takes in target positions in X, Y and Z axes. Also, the heading error and rate of heading error are included as inputs in order to correct the bearing or direction of the vehicle. A heuristic and integration stage is also included after these fuzzy logic blocks for vehicles collision avoidance. The controller output parameters are the adjusted thrusters speeds which dictate the six thrusters speed and direction. With the proper output commands from this controller, the vehicle will be able to navigate in its predefined destination.
format text
author David, Kanny Krizzy Abulad
spellingShingle David, Kanny Krizzy Abulad
Design and development of an Autonomous Underwater Vehicle (AUV) with fuzzy logic based controller
author_facet David, Kanny Krizzy Abulad
author_sort David, Kanny Krizzy Abulad
title Design and development of an Autonomous Underwater Vehicle (AUV) with fuzzy logic based controller
title_short Design and development of an Autonomous Underwater Vehicle (AUV) with fuzzy logic based controller
title_full Design and development of an Autonomous Underwater Vehicle (AUV) with fuzzy logic based controller
title_fullStr Design and development of an Autonomous Underwater Vehicle (AUV) with fuzzy logic based controller
title_full_unstemmed Design and development of an Autonomous Underwater Vehicle (AUV) with fuzzy logic based controller
title_sort design and development of an autonomous underwater vehicle (auv) with fuzzy logic based controller
publisher Animo Repository
publishDate 2013
url https://animorepository.dlsu.edu.ph/etd_masteral/4355
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