Path Following Control System of Line-of-Sight Guidance for Robotic Dolphin with Multi-Link Mechanism in Underwater Simulator
This work addresses the need for path following systems in BAUVs with multi-link mechanisms, which is important for environmental surveys but currently limited and not well-evaluated.
The study proposes a path following control system for biomimetic autonomous underwater vehicles (BAUVs) with multi-link mechanisms, using line-of-sight guidance. The system was evaluated in an underwater simulator, enabling parameter determination and control method assessment.
Biomimetic autonomous underwater vehicle (BAUV) with multi-link mechanism is widely used in aquatic life observation and environmental surveys due to its low power consumption and high maneuverability. An environmental survey requires a path following system that automatically follows specific points. However, the path following system of BAUV is limited, and its evaluation with multi-link mechanism robots has not yet been clarified. The path following system in BAUV requires prior simulation because the model differs depending on the type of biomimetics. In this study, we propose a path following system for BAUVs with a multi-link mechanism and evaluation in underwater simulation. In this result, it was possible to design a path following system suitable for BAUV, determine parameters using a simulator, and evaluate control methods.