A Review Note for Position Control of an Autonomous Underwater Vehicle

摘要

A new autonomous underwater vehicle (AUV) called H160 is described in this article. The first prototype of this AUV has been realized through collaboration between two partners, which are the Laboratory of Data processing, Robotics and Micro electronic of Montpellier (LIRMM) and the ECA-HYTEC (specialist in the design and manufacture of remote controlled systems in "hostile" environments). This paper shows a general presentation of the vehicle, its hardware and software architecture including the process modeling and the control law used. Simulation results presented are based on the AUV mathematical model.