Modeling and Implementation of a Special UUV Platform Control System For Littoral and Confined-Space Operations

Abstract

Unmanned underwater vehicles (UUVs) offer a unique opportunity to safely explore areas too dangerous for human divers. The purpose of this research is to model and implement a robust closed-loop control method for the Wreck Interior Exploration Vehicle (WIEVLE), a novel UUV conceptualized, built, and tested exclusively on the Naval Postgraduate School campus. This work builds on previous open-loop testing and experimentation by a capstone Systems Engineering team of students in 2020. Expanding on their work, a MATLAB/Simulink simulation was created to test the proposed control scheme. To validate computer modeling results, the Pixhawk drone autopilot feasibility was tested as a commercial off the shelf solution for control. Due to the constraints of the autopilot, it was deemed infeasible for use in this application. We suggest as future work another approach that was unable to be implemented prior to release.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2023
Accession Number
AD1224615

Entities

People

  • Matthew J. Coleman

Organizations

  • Naval Postgraduate School

Tags

Readers

  • Robotics and Automation.
  • Systems Analysis and Design
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Spacecraft Maneuvers