Research on a vectored thruster based on 3RRUR for micro AUVs
- Resource Type
- Conference
- Authors
- Liu, Tao; Wang, Zihao; Li, Fangye; Miao, Jianming; Xu, Lingji
- Source
- OCEANS 2022, Hampton Roads OCEANS Hampton Roads, 2022. :1-7 Oct, 2022
- Subject
- Communication, Networking and Broadcast Technologies
Geoscience
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Autonomous underwater vehicles
Attitude control
Navigation
Roads
Oceans
Propulsion
Numerical simulation
- Language
Autonomous underwater vehicles (AUVs) have become an important tool in unmanned underwater operations and have shown increasing application value in practical applications. In order to overcome the problem of weakened navigational maneuverability at very low or zero speed of traditional AUVs, this paper proposes a vector thruster for a micro AUV based on a three-degree-of-freedom parallel mechanism, and the research work is carried out around the designed vector thruster for micro AUVs using a combination method of theoretical analysis, numerical simulation and experimental test. The proposed vectored propulsion scheme based on a three-degree-of-freedom parallel mechanism is able to solve the problem of reduced maneuvering performance of micro AUVs at very low or zero speeds without adding redundant thrusters.