Department of Mechanical Engineering Seminar: Design, Modelling and Control of Autonomous Underwater Robots
Free Public Lecture
Mechanical Engineering Lecture Theatre
Level, 3, Building 170, Mechanical Engineering, Block E
T: (03) 8344 7717
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In this talk, the speaker will be focusing on the design and control aspects of autonomous underwater robots. Underwater robots are a class of robots which are propelled through water to carry out underwater missions autonomously. The modeling of the 6-dof dynamics of the robot, considering the hydrodynamic forces and the restoring forces acting on the robot, will be explained along with the open loop simulation studies. Design of controller for trajectory tracking and station keeping will be discussed along with some new approaches developed. An obstacle avoidance strategy based on a multi-point potential field method will be presented along with the Hardware-in-loop simulation results. The design of controllers for underwater manipulators, mounted on underwater robot, also will be presented.