Open Loop Speed Response for UCRG Micro Autonomous Underwater Vehicle

Underwater, Control and Robotics Group (UCRG) has developed a torpedo-shaped micro autonomous underwater vehicle (mAUV). Weighing at only 6 kg, it has a diameter of 0.11m and a length of 0.72 m. The mAUV has one thruster for propulsion in the surge direction and three rudders for motion in the pitch and yaw direction. The rudder was designed based on NACA 0012 air foils. An embedded system consisting of Arduino, Raspberry Pi, speed controller, IMU, depth sensor, and compass is used to control the mAUV navigation. This paper shows the study on the open loop speed response of the mAUV and the amount of lift produced by the rudder at various angles of attack. The performance of the mAUV is demonstrated with simulation and experiment results. The actual performance of the mAUV behaves similarly to the simulation.