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JRM Vol.14 No.2 pp. 112-117
doi: 10.20965/jrm.2002.p0112
(2002)

Paper:

Development of a Compact Autonomous Underwater vehicle Using Varivec Propeller

Yutaka Nagashima*, Nobuyoshi Taguchi**, Takakazu Ishimatsu*** and Hirofumi Inoue*

*Department of Electrical Engineering, Sasebo National Colledge of Technology, 1-1 Okishin-machi, Sasebo, Nagasaki, 857-1193, Japan

**Industrial Technology Center of Nagasaki, 2-1303-8, Ikeda, Ohomura, Nagasaki, 856-0026, Japan

***Department of Mechanical System Engineering, Nagasaki University, 1-14 Bunkyo-machi, Nagasaki, 852-8521, Japan

Received:
November 15, 2001
Accepted:
December 14, 2001
Published:
April 20, 2002
Keywords:
Varivec propeller, AUV, swash plate, fuzzy control, autonomous navigation
Abstract

This paper describes an autonomous underwater vehicle (AUV) with a distributed fuzzy controller and underwater acoustic communication. Our AUV is made compact and lightweight by using a Varivec propeller and compact controller with sophisticated logic circuits. The AUV is precisely controlled using underwater ultrasonic command signals and fuzzy control. The AUV is autonomously controlled using an electronic compass, collision avoidance sonar, depth sensor, and GPS receiver. Experimental results show that our AUV moved along the target path and held the desired position keeping azimuth direction and depth. We also confirmed that our algorithm to increase the reliability of ultrasonic communication worked without fail.

Cite this article as:
Yutaka Nagashima, Nobuyoshi Taguchi, Takakazu Ishimatsu, and Hirofumi Inoue, “Development of a Compact Autonomous Underwater vehicle Using Varivec Propeller,” J. Robot. Mechatron., Vol.14, No.2, pp. 112-117, 2002.
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