Abstract:
This paper presents the development of a portable autonomous underwater vehicle (AUV) named Shark, along with the design of its hovering control system for vision-based u...Show MoreMetadata
Abstract:
This paper presents the development of a portable autonomous underwater vehicle (AUV) named Shark, along with the design of its hovering control system for vision-based underwater inspection. Firstly, the mechanical structure design, electrical system configuration, and software system development of the Shark AUV are introduced, highlighting its cost-effectiveness, compact size, and streamlined torpedo shape to enhance the flexibility of underwater inspections. Secondly, the dynamic model of the Shark AUV is established, and the hydrodynamic coefficients are numerical estimated utilizing computational fluid dynamics (CFD) simulations. Thirdly, considering that the developed Shark AUV is underactuated in the sway degree of freedom, a novel heading control model is developed that reasonably tackles the motion coupling between sway and yaw. This model facilitates the design of a robust \mathcal {H}_{\infty } controller to regulate the heading angle of the Shark AUV for vision-based underwater inspections. Finally, the effectiveness of the designed hovering control method and vision-based underwater inspection system are validated in both a 3D simulation platform and a laboratory test pool. The experimental results demonstrate that the Shark AUV prototype can achieve satisfactory vision-based underwater inspection performance within a pixel error of 5 × 5, and the proposed \mathcal {H}_{\infty } heading controller consistently provides superior performance in handling motion coupling, parametric uncertainty, and external disturbances.
Published in: IEEE Transactions on Intelligent Vehicles ( Volume: 9, Issue: 1, January 2024)
Funding Agency:
School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China
Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China
Lin Hong (Student Member, IEEE) received the B.E. degree in mechatronic engineering from the Shandong University of Science and Technology, Qingdao, China, in 2017. He is currently working toward the Ph.D. degree in mechanical engineering with the Harbin Institute of Technology, Shenzhen, China. From 2023 to 2024, he was a Visiting Ph.D. student with the Chair of Robotics, AI and Embedded Systems, Technical University of ...Show More
Lin Hong (Student Member, IEEE) received the B.E. degree in mechatronic engineering from the Shandong University of Science and Technology, Qingdao, China, in 2017. He is currently working toward the Ph.D. degree in mechanical engineering with the Harbin Institute of Technology, Shenzhen, China. From 2023 to 2024, he was a Visiting Ph.D. student with the Chair of Robotics, AI and Embedded Systems, Technical University of ...View more
School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China
Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China
Xin Wang (Member, IEEE) received the Ph.D. degree from the School of Automotive Engineering, Jilin University, Changchun, China, in 2000. From 2001 to 2003, she was a Postdoctoral Research Fellow with the Hong Kong University of Science and Technology, Hong Kong. Since 2010, she has been a Professor with the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China. Her research inte...Show More
Xin Wang (Member, IEEE) received the Ph.D. degree from the School of Automotive Engineering, Jilin University, Changchun, China, in 2000. From 2001 to 2003, she was a Postdoctoral Research Fellow with the Hong Kong University of Science and Technology, Hong Kong. Since 2010, she has been a Professor with the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China. Her research inte...View more
School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China
Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China
De-Sheng Zhang received the M.S. degree from the Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, U.K., in 2017. He is currently working toward the Ph.D. degree with the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China. His research interests include modeling and control of underwater robotics.
De-Sheng Zhang received the M.S. degree from the Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, U.K., in 2017. He is currently working toward the Ph.D. degree with the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China. His research interests include modeling and control of underwater robotics.View more
School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China
Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China
Ming Zhao received the B.E. degree from the Collage of Mechanical and Electrical Engineering of Northeast Forestry University, Harbin, China, in 2021. He is currently working toward the M.E. degree in mechanical engineering with the Harbin Institute of Technology, Shenzhen, China. His research interests include machine vision and path planning of underwater robots.
Ming Zhao received the B.E. degree from the Collage of Mechanical and Electrical Engineering of Northeast Forestry University, Harbin, China, in 2021. He is currently working toward the M.E. degree in mechanical engineering with the Harbin Institute of Technology, Shenzhen, China. His research interests include machine vision and path planning of underwater robots.View more
School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China
Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China
Hang Xu received the B.E. degree from the School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China, in 2021. He is currently working toward the M.E. degree in mechanical engineering with the Harbin Institute of Technology, Shenzhen, China. His research interests include predictive control theory, robust MPC, and control of underwater robots.
Hang Xu received the B.E. degree from the School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China, in 2021. He is currently working toward the M.E. degree in mechanical engineering with the Harbin Institute of Technology, Shenzhen, China. His research interests include predictive control theory, robust MPC, and control of underwater robots.View more
Contents School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China
Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China
Lin Hong (Student Member, IEEE) received the B.E. degree in mechatronic engineering from the Shandong University of Science and Technology, Qingdao, China, in 2017. He is currently working toward the Ph.D. degree in mechanical engineering with the Harbin Institute of Technology, Shenzhen, China. From 2023 to 2024, he was a Visiting Ph.D. student with the Chair of Robotics, AI and Embedded Systems, Technical University of Munich, Munich, Germany. His research interests include machine vision, visual servoing, modeling, and control of underwater robots.
Lin Hong (Student Member, IEEE) received the B.E. degree in mechatronic engineering from the Shandong University of Science and Technology, Qingdao, China, in 2017. He is currently working toward the Ph.D. degree in mechanical engineering with the Harbin Institute of Technology, Shenzhen, China. From 2023 to 2024, he was a Visiting Ph.D. student with the Chair of Robotics, AI and Embedded Systems, Technical University of Munich, Munich, Germany. His research interests include machine vision, visual servoing, modeling, and control of underwater robots.View more
School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China
Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China
Xin Wang (Member, IEEE) received the Ph.D. degree from the School of Automotive Engineering, Jilin University, Changchun, China, in 2000. From 2001 to 2003, she was a Postdoctoral Research Fellow with the Hong Kong University of Science and Technology, Hong Kong. Since 2010, she has been a Professor with the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China. Her research interests include mechine learning, robust control, multi-agent system, underwater robotic technology, and application.
Xin Wang (Member, IEEE) received the Ph.D. degree from the School of Automotive Engineering, Jilin University, Changchun, China, in 2000. From 2001 to 2003, she was a Postdoctoral Research Fellow with the Hong Kong University of Science and Technology, Hong Kong. Since 2010, she has been a Professor with the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China. Her research interests include mechine learning, robust control, multi-agent system, underwater robotic technology, and application.View more
School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China
Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China
De-Sheng Zhang received the M.S. degree from the Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, U.K., in 2017. He is currently working toward the Ph.D. degree with the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China. His research interests include modeling and control of underwater robotics.
De-Sheng Zhang received the M.S. degree from the Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, U.K., in 2017. He is currently working toward the Ph.D. degree with the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China. His research interests include modeling and control of underwater robotics.View more
School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China
Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China
Ming Zhao received the B.E. degree from the Collage of Mechanical and Electrical Engineering of Northeast Forestry University, Harbin, China, in 2021. He is currently working toward the M.E. degree in mechanical engineering with the Harbin Institute of Technology, Shenzhen, China. His research interests include machine vision and path planning of underwater robots.
Ming Zhao received the B.E. degree from the Collage of Mechanical and Electrical Engineering of Northeast Forestry University, Harbin, China, in 2021. He is currently working toward the M.E. degree in mechanical engineering with the Harbin Institute of Technology, Shenzhen, China. His research interests include machine vision and path planning of underwater robots.View more
School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China
Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen, China
Hang Xu received the B.E. degree from the School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China, in 2021. He is currently working toward the M.E. degree in mechanical engineering with the Harbin Institute of Technology, Shenzhen, China. His research interests include predictive control theory, robust MPC, and control of underwater robots.
Hang Xu received the B.E. degree from the School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China, in 2021. He is currently working toward the M.E. degree in mechanical engineering with the Harbin Institute of Technology, Shenzhen, China. His research interests include predictive control theory, robust MPC, and control of underwater robots.View more
