A distributed motion control system for the CRANGER Autonomous Underwater Vehicle

With applications in the academic, military, and maintenance in oil industrial Autonomous Underwater Vehicles (AUVs) are increasing important. AUV is a kind of complicated equipment, its motion control is extremely crucial. At present, centralized control method used by most AUVs share many deficiencies: complex controller, large computation, difficulties in system maintenance and upgrading, etc. This paper presents a distributed motion control System for our multi-thruster AUV platform C-RANGER. It includes the distributed architecture and algorithm. Simulation proved that the proposed control algorithm and AUV platform work well.