Design and Control of 6 D.O.F(Degrees of Freedom) Hovering AUV

Abstract

In this paper, a study of a new hovering six dof underwater robot with redundant horizontal thrusters, titled HAUV (hovering AUV), is presented. The results of study on the structure design, deployment of thrusters, and development of the developed control system of the AUV was presented. For the HAUV structure, a structure design and an analysis of the thrusting system was performed. For navigation, a sensor fusion board which can proceed various sensor signals to identify correct positions and speeds was developed and a total control system including EKF (Extended Kalman Filter) was designed. Rolling, pitching and depth control tests of the HAUV have been performed, and relatively small angle error and depth tracking error results were shown.