Modeling and Control of a Micro AUV: Objects Follower Approach

Jesus Monroy-Anieva , Cyril Rouvière (1, 2) , Eduardo Campos-Mercado , Tomas Salgado-Jimenez , Luis Garcia-Valdovinos

1 ENSTA Bretagne - École Nationale Supérieure de Techniques Avancées Bretagne
2 STIC - Département STIC [Brest]

This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle (mu-AUV), named AR2D2. The main objective of this work is to make the vehicle to detect and follow an object with defined color by means of the readings of a depth sensor and the information provided by an artificial vision system. A nonlinear PD (Proportional-Derivative) controller is implemented on the vehicle in order to stabilize the heave and surge movements. A formal stability proof of the closed-loop system using Lyapunov's theory is given. Furthermore, the performance of the mu-AUV is validated through numerical simulations in MatLab and real-time experiments.

Mots clés: Stability; Nonlinear PD; Computer vision; Submarine robot; Modeling; Control; Embedded system; Micro vehicle

Domaines: Sciences de l'ingénieur [physics]; Automatique / Robotique

Jesus Monroy-Anieva, Cyril Rouvière, Eduardo Campos-Mercado, Tomas Salgado-Jimenez, Luis Garcia-Valdovinos. Modeling and Control of a Micro AUV: Objects Follower Approach. Sensors, 2018, 18 (8), pp.2574. ⟨10.3390/s18082574⟩. ⟨hal-01917091⟩