Abstract

GARCIA-GARCIA, Delvis; VALERIANO-MEDINA, Yunier; PORTAL-LINARES, Jorge A.  and  HERNANDEZ SANTANA, Luis. Autonomous Underwater Vehicle navigation system based on nonlinear vehicle dynamic model.. EAC [online]. 2015, vol.36, n.2, pp. 83-97. ISSN 1815-5928.

Researches related Autonomous Underwater Vehicles (AUVs) have boomed in recent years mainly due to the development of sensors and computers technologies. In Cuba the Group of Automation, Robotics and Perception and the Hydrographic Research Center have been working on the development of an AUV based on low-cost hardware architecture. In this paper the design of a navigation system based on a passive observer is shown. The algorithm consists of a nonlinear model of the vehicle in combination with linear approximations of ocean waves and currents. The tuning procedure is relatively easy and the observer obtained is feasible to implement in real time. The simulations performed using MatLab/Simulink show good results in terms of disturbances rejection and estimation of navigation parameters needed like velocities and positions.

Keywords : navigation; nonlinear model; ocean currents; observer; waves.

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