Navigation system for smartphone-based autonomous underwater vehicle

摘要

A navigation system play essential roles in Autonomous Underwater Vehicle (AUV) research. However, controlling an AUV is still challenged with environmental interference, highly nonlinear properties of vehicles, complexity of the hydrodynamics and kinematics. Various methods with complex computation are required to control AUV position. A lot of resource and power is required for complex computation. This paper proposed an alternative method for navigating AUV by combining PID based depth control system and line tracking algorithm. This method was applied on Three Degree of Freedom (3DOF) reference frames dynamic model - Surge, Heave, and Yaw. Meanwhile, the navigation system was used to manage DC motors on SANDY (Smartphone-based Autonomous Underwater System), a micro-size AUV that developed by Robotic - SAS team from Telkom University, Indonesia. Experiments involving simulation and water-tank test indicate that the system is successfully implemented and provide a series of data to use for future works.