碩士 / 國立中山大學 / 海下科技研究所 / 107 / Autonomous underwater vehicles (AUVs) are important tools to perform large-scale, repetitive, and hazardous underwater survey and exploration for scientific purposes. Based on the experiences obtained by developing the IUT prototype AUV, the Institute of Undersea Technology (IUT) at National Sun Yat-sen University has been devoted to developing the IUT Testbed AUV since 2016. The AUV’s hardware architecture, communication system, and electric power system, and the first version of the AUV control program have been designed and implemented upon 2018. The IUT Testbed AUV was developed based on the Raspberry Pi computer, Raspbian operating system, and Ethernet communication architecture. The standard payload devices on the IUT Testbed AUV include six thrusters, an altimeter with depth sensor, a Doppler velocity log, an intelligent gyro compass, an acoustic modem, and a GPS/RF module. The first version of the AUV control program consists of a depth controller, an altitude controller, and a heading controller. In order to allow the IUT Testbed AUV to navigate itself toward the specified target waypoints, a waypoint navigation controller was designed and implemented in this research. Additionally, in simulative environments with an uneven seafloor, the first versions of the depth controller and altitude controller do not have good performance on the fixed-depth control and fixed-altitude control, respectively. In to address the above issue, the first versions of the depth and altitude control algorithms were modified and tested using a hardware-in-the-loop (HIL) simulation platform developed in the previous work. The waypoint navigation controller was tested using the HIL simulation platform as well. The hardware integration and on-land functional tests for the IUT Testbed AUV were completed in this research. The IUT Testbed AUV was used to conduct different experiments in a 4.5 m x 4.5 m x 2 m pond for the fixed-depth control, fixed-altitude control, fixed-heading control, and waypoint navigation control. Based on the experimental results, the steady-state mean absolute errors for the fixed-depth control and fixed-altitude control are 2.9 cm and 0.6 cm, respectively; the steady-state mean absolute error for the fixed-heading control is 4.2 degrees; the maximum distance between the AUV position and a target waypoint position is about 0.2 m.
| Identifer | oai:union.ndltd.org:TW/107NSYS5281007 |
| Date | January 2019 |
| Creators | Wei-Xiang Chen, 陳威翔 |
| Contributors | Yu-Cheng Chou, 周佑誠 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 134 |
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