In this research, an X4-AUV consisting of four thrusters is designed and manufactured to develop a small AUV which does not use any rudders. First, the construction of an X4-AUV and the motion method are described, together with the added mass. Next, for the production of the X4-AUV, we describe the selection of parts and the manufacture of a waterproofed container, and some experiments are conducted to verify the forward motion of the X4-AUV and the rotational motion in each attitude. We propose a method for stabilizing the attitude of the X4-AUV, and confirm the usefulness of the method through the experiments.
|Title of host publication
|2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
|Institute of Electrical and Electronics Engineers Inc.
|Number of pages
|Published - Nov 18 2016
|55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 - Tsukuba, Japan
Duration: Sept 20 2016 → Sept 23 2016
|55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
|9/20/16 → 9/23/16
- Attitude control
- Underwater robots
ASJC Scopus subject areas
- Control and Optimization
- Control and Systems Engineering