Diseño del sistema de control para navegación autónoma de un vehículo submarino ligero

El presente Trabajo Final de Master realiza un estudio de distintas implementaciones de control en vehículos submarinos que operan con el firmware de Ardupilot, indicando las características y capacidades presentes en dicho software. Con este objetivo se ha diseñado un sistema apoyado por USBL que permite utilizar el ROV Sibiu Nano + de la empresa Nido Robotics como AUV utilizando un sistema supervisable de puntos de interés indicados por un usuario en tierra. Por último, se evalúan los desempeños de los distintos sistemas de control mediante la realización de pruebas en un ambiente controlado.This project analyses the implementation of different control systems in lightweight underwater vehicles operating with the firmware Ardupilot, making a complete description of their charasteristics and different capabilities. A software aided by USBL has been designed to use the ROV Sibiu Nano + made by Nido Robotics as an AUV using a supervised system of waypoints indicated by an user in the Base Station. Lastly the behaviour of each designed control system will be evaluated via real tests in a controlled environment.Universidad de Sevilla. Máster en Ingeniería en Electrónica, Robótica y Automátic

A coordination architecture for UUV fleets

This paper presents a modular and expandable architecture, which includes diversified functions and can be applied to heterogeneous fleets of unmanned underwater vehicles (UUVs), to solve the problem of decentralized formation coordination. The architecture is modular and each module is built such that it can solve a precise task using one or more functions. Three functions among them play a key role for the whole architecture: localization, faultless formation control and fault tolerance. The localization function is performed by the use of an adaptive extended Kalman filter (A-EKF) algorithm; the fault-free formation control function is based on a nonlinear decentralized model predictive control (ND-MPC) algorithm; the fault tolerance function is based on a hierarchy graph theory. The novelty of the paper lies in the use of the above mentioned functions as the core of an architecture which is expandable, decentralized and can be applied to a wide range of vehicles

A Coordination Architecture for UUV Fleets

This paper presents a modular and expandable architecture, which includes diversified functions and can be applied to heterogeneous fleets of unmanned underwater vehicles (UUVs), to solve the problem of decentralized formation coordination. The architecture is modular and each module is built such that it can solve a precise task using one or more functions. Three functions among them play a key role for the whole architecture: localization, faultless formation control and fault tolerance. The localization function is performed by the use of an adaptive extended Kalman filter (A-EKF) algorithm; the fault-free formation control function is based on a nonlinear decentralized model predictive control (ND-MPC) algorithm; the fault tolerance function is based on a hierarchy graph theory. The novelty of the paper lies in the use of the above mentioned functions as the core of an architecture which is expandable, decentralized and can be applied to a wide range of vehicles

A coordination architecture for UUV fleets

This paper presents a modular and expandable architecture, which includes diversified functions and can be applied to heterogeneous fleets of unmanned underwater vehicles (UUVs), to solve the problem of decentralized formation coordination. The architecture is modular and each module is built such that it can solve a precise task using one or more functions. Three functions among them play a key role for the whole architecture: localization, faultless formation control and fault tolerance. The localization function is performed by the use of an adaptive extended Kalman filter (A-EKF) algorithm; the fault-free formation control function is based on a nonlinear decentralized model predictive control (ND-MPC) algorithm; the fault tolerance function is based on a hierarchy graph theory. The novelty of the paper lies in the use of the above mentioned functions as the core of an architecture which is expandable, decentralized and can be applied to a wide range of vehicles