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New vectorial propulsion system and trajectory control designs for improved AUV mission autonomy

Author
Masmitja, I.; González, J.; Galarza, C.; Gomariz, S.; Aguzzi, J.; Del Rio, J.
Type of activity
Journal article
Journal
Sensors
Date of publication
2018-04-17
Volume
18
Number
4, 1241
First page
1
Last page
26
DOI
https://doi.org/10.3390/s18041241 Open in new window
Project funding
Instrumentación y tecnologías aplicadas al estudio, caracterización y explotación sostenible del medio marino
Repository
http://hdl.handle.net/2117/116526 Open in new window
URL
http://www.mdpi.com/1424-8220/18/4/1241 Open in new window
Abstract
Autonomous Underwater Vehicles (AUV) are proving to be a promising platform design for multidisciplinary autonomous operability with a wide range of applications in marine ecology and geoscience. Here, two novel contributions towards increasing the autonomous navigation capability of a new AUV prototype (the Guanay II) as a mix between a propelled vehicle and a glider are presented. Firstly, a vectorial propulsion system has been designed to provide full vehicle maneuverability in both horizont...
Citation
Masmitja, I., González, J., Galarza, C., Gomariz, S., Aguzzi, J., Del Rio, J. New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy. "Sensors", 17 Abril 2018, vol. 18, núm. 4, 1241, p. 1-26.
Keywords
AUV, automatic navigation, autonomous vehicle, fuzzy control, linear control, propulsion system, thruster vectorial control
Group of research
PERC-UPC - Power Electronics Research Centre
SARTI - Technological Development Center for Remote Acquisition and Data Processing System
SARTI-MAR -

Participants