Abstract
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. Especially, each thruster is arranged at equal intervals to the same plane, and the attitude motions of a roll, a pitch and a yaw, and the translational motion of forward are realizable by changing the rotational speeds of four thrusters. First, the construction of an X4-AUV and the motion method are described, together with the added mass. Next, regarding the production of the X4-AUV, the selection of parts, the structure and thrust of a thruster, the manufacture of a waterproofed container, etc. are described. Finally, some experiments are conducted to verify the forward motion of X4-AUV and the rotational motion in each attitude.
Original language | English |
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Title of host publication | 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 1118-1121 |
Number of pages | 4 |
ISBN (Print) | 9784907764487 |
DOIs | |
Publication status | Published - Sep 30 2015 |
Event | 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China Duration: Jul 28 2015 → Jul 30 2015 |
Other
Other | 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 |
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Country | China |
City | Hangzhou |
Period | 7/28/15 → 7/30/15 |
Keywords
- Autonomous underwater vehicles (AUVs)
- Thruster
- Underwater robots
- Waterproofed motor
ASJC Scopus subject areas
- Control and Systems Engineering