Route keeping control of AUV under current by using dynamics model via CFD analysis

摘要

An AUV (autonomous underwater vehicle) of R-One Robot, developed by joint cooperation between IIS, University of Tokyo and Mitsui Engineering & Shipbuilding, has been achieving several missions since it was constructed. Since it is not unusual for an AUV to face more or less strong currents during its operation, it is not so easy to accomplish the mission of route keeping precisely due to the interaction between current and vehicle motion. In this research, a dynamics model of the R-One Robot has been established through iterative numerical calculations based on CFD analysis. Heading angle control with additional correction to keep to the target route under current interaction has been carried out by using a PID controller based on the derived dynamics model. Achievement of superior route keeping ability has been confirmed from the result of numerical simulation as well as the recorded cruising trajectory during its actual operation at sea. With this improved route keeping ability, the R-One Robot is expected to be more useful for difficult missions.