Vilanova sea trials of guanay II AUV

Abstract

This work presents the last trials of the Guanay II AUV in the Mediterranean Sea. Guanay II is an AUV designed to navigate on the surface of the sea following a path and in some points it carry out a vertical dive to take measures of a water column. During the last year we have focused on the design of an automatic control and its algorithms. For the control system, we split the controller into two loops: inner loop and outer loop. The first loop is responsible for setting the yaw ѱ and the forward velocity u, given a reference (ѱref, uref). At this level we develop a fuzzy controller which integrate the different linear controllers adjusted for different forward velocities. The second loop is responsible to set the reference for yaw and forward velocity for a given path. The mission consisted in to follow 13 waypoints in a total travel of 3600m with three vertical dives up to 5m of deep. Through this test the operability of the vehicle have been validate, also, different designed controllers have been test. During this mission, a set of measurements of salinity and temperature have been obtained.