Buoyancy control for an autonomous underwater vehicle

Trevor Love; Daniel Toal; Colin Flanagan

doi:10.1016/S1474-6670(17)36681-8

Buoyancy control for an autonomous underwater vehicle

Trevor Love, Daniel Toal, Colin Flanagan

Department of Electronics & Computer Engineering

University of Limerick

Research output: Contribution to journal › Conference article › peer-review

Abstract

This paper describes an active buoyancy control system for an autonomous underwater vehicle (AUV). The AUV 'Tethra" is a shallow-water craft designed for a target application of underwater video surveying and as a general AUV test-bed. The craft is controlled using an enhanced version of Brook's behaviour based Subsumption Architecture. Mission scenarios that might require active buoyancy control have been identified. Active buoyancy control is realised using ballast tanks and compressed air. A secondary emergency controller and an Emergency Buoyancy System (EBS) are also presented. Buoyancy control behaviours have been developed and are incorporated in the craft's autonomous control algorithms.

Original language	English
Pages (from-to)	199-204
Number of pages	6
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	36
Issue number	4
DOIs	https://doi.org/10.1016/S1474-6670(17)36681-8
Publication status	Published - 2003
Event	1st IFAC Workshop on Guidance and Control of Underwater Vehicles, GCUV 2003 - Newport, United Kingdom Duration: 9 Apr 2003 → 11 Apr 2003

Keywords

Autonomous control
Autonomous vehicles

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10.1016/S1474-6670(17)36681-8

Cite this

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title = "Buoyancy control for an autonomous underwater vehicle",

abstract = "This paper describes an active buoyancy control system for an autonomous underwater vehicle (AUV). The AUV 'Tethra{"} is a shallow-water craft designed for a target application of underwater video surveying and as a general AUV test-bed. The craft is controlled using an enhanced version of Brook's behaviour based Subsumption Architecture. Mission scenarios that might require active buoyancy control have been identified. Active buoyancy control is realised using ballast tanks and compressed air. A secondary emergency controller and an Emergency Buoyancy System (EBS) are also presented. Buoyancy control behaviours have been developed and are incorporated in the craft's autonomous control algorithms.",

keywords = "Autonomous control, Autonomous vehicles",

author = "Trevor Love and Daniel Toal and Colin Flanagan",

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AB - This paper describes an active buoyancy control system for an autonomous underwater vehicle (AUV). The AUV 'Tethra" is a shallow-water craft designed for a target application of underwater video surveying and as a general AUV test-bed. The craft is controlled using an enhanced version of Brook's behaviour based Subsumption Architecture. Mission scenarios that might require active buoyancy control have been identified. Active buoyancy control is realised using ballast tanks and compressed air. A secondary emergency controller and an Emergency Buoyancy System (EBS) are also presented. Buoyancy control behaviours have been developed and are incorporated in the craft's autonomous control algorithms.

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JO - IFAC Proceedings Volumes (IFAC-PapersOnline)

JF - IFAC Proceedings Volumes (IFAC-PapersOnline)

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T2 - 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, GCUV 2003

Y2 - 9 April 2003 through 11 April 2003

ER -

Buoyancy control for an autonomous underwater vehicle

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