A Practical Prototype Development to Simulate and Control the Movements of an AUV using ARM9 based Microcontroller

This paper presents a practical implementation model for simulating the pitching and yawing motions of an autonomous underwater vehicle (AUV) and its consequent control using an ARM based SBC Friendly ARM mini2440. A rotary encoder and adxl303 triple axis accelerometer has been used to measure the position and acceleration respectively. The emphasis of this paper is given on the interfacing of the sensors with Friendly ARM mini2440 and the resultant control algorithm implemented on the embedded platform to control the designed testbench. The control algorithm implemented is PID control. It is to be noted that the entire project was done to study the movements of an underwater vehicle and the ensuing control strategies and the prototype developed fulfills those criteria.