Development of a motion control system for underwater gliding vehicle

Satoru Yamaguchi, Takashi Naito, Takeshi Kugimiya, Kengo Akahoshi, Masataka Fujimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The authors have been developing a gliding type underwater vehicle, an autonomous unmanned underwater robot. The motion of the vehicle is not limited by a tether cable and it can cruise freely in the ocean, using the lift of a wing and changing its weight in the water, repeatedly descending and ascending. It does not have a thruster. An untethered underwater vehicle cannot be supplied energy by a support ship and must be equipped with sufficient energy in its body. In this point of view a gliding type vehicle has an advantage because high propulsive efficiency can be expected using the gliding method (Ura, 1989; Ura, 1990). This paper presents a motion control system using an air pump to change the body weight in water. The depth of the vehicle is controlled by a controller using a depth sensor. The system controls the depth of the vehicle using a buoyancy changing mechanism. The attitude of the vehicle is also controlled by ailerons and a device that changes the center of gravity of the vehicle.

Original languageEnglish
Title of host publicationProceedings of The Seventeenth 2007 International Offshore and Polar Engineering Conference, ISOPE 2007
Pages1115-1120
Number of pages6
Publication statusPublished - 2007
Event17th 2007 International Offshore and Polar Engineering Conference, ISOPE 2007 - Lisbon, Portugal
Duration: Jul 1 2007Jul 6 2007

Other

Other17th 2007 International Offshore and Polar Engineering Conference, ISOPE 2007
CountryPortugal
CityLisbon
Period7/1/077/6/07

All Science Journal Classification (ASJC) codes

  • Ocean Engineering

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  • Cite this

    Yamaguchi, S., Naito, T., Kugimiya, T., Akahoshi, K., & Fujimoto, M. (2007). Development of a motion control system for underwater gliding vehicle. In Proceedings of The Seventeenth 2007 International Offshore and Polar Engineering Conference, ISOPE 2007 (pp. 1115-1120)