In recent years, increasing the level of autonomy that underwater vehicles are capable of operating on their own has become a crucial component in order to cope with the highly dangerous and alien environment of the ocean. This is because the ocean is a totally different environment from land. This is due to the fact that the environment of the ocean is unfamiliar as well as lethal. Nowadays, autonomous underwater vehicles, also known as AUVs, are largely chosen over remotely operated vehicles, also known as ROVs, for the majority of the jobs that need engagement with the underwater environment. This is done to prevent the operators from becoming exhausted and to increase the likelihood that they will remain safe. Research on ocean resources, oceanographic mapping, inspections of deep‐sea pipelines, and other activities of a similar kind made up the majority of the work linked with underwater intervention. In these kinds of applications, having precise control over an AUV's location of the greatest importance if one wishes to gather data of the best possible quality. This is because the precision with which the AUV maintains its station and records its location is a crucial role in influencing the quality of the data that are acquired. This is the reason why this is the case. On the other hand, achieving precise trajectory tracking control of an AUV is an extremely challenging task. This is owing to the unstructured nature of the undersea environment as well as the fact that vehicle dynamics is extremely nonlinear, coupled, and time‐varying. Additionally, this is a result of the fact that the vehicle is moving. In addition to these, changes in the hydrodynamic coefficients, which are induced by changing operating conditions and vehicle, may be vulnerable to unknown variables such as ocean currents, which make the design of the trajectory tracking control much more difficult. Changes in the hydrodynamic coefficients are induced by changing operating conditions and vehicle. Because of this, it is of utmost importance to have a tracking control system for an AUV that is built to accommodate the unpredictability of the marine environment. In order to carry out nontrivial autonomous operations in the deep sea, specifically those that are in regions that are inaccessible to humans, it is necessary to have a manipulator arm that is affixed to the underwater vehicle. The issue is made more complex to tackle as a result of these elements working together. As a direct result of the connected manipulator arm, the auxiliary undersea vehicle maintenance system (AUVMS) transforms into a structurally redundant example of kinematic redundancy. As a direct result of this, it is necessary to put into action various strategies for the resolution of redundancy. The task space‐based control scheme design ideas have been offered as a possible remedy to the issue of redundancy resolution as part of the scope of this research project.
Control of Autonomous Underwater Vehicles
2024-05-29
19 pages
Article/Chapter (Book)
Electronic Resource
English