INDIAN INSTITUTE OF TECHNOLOGY MADRAS
Department of Engineering Design
AUTONOMOUS UNDERWATER ROBOTIC LABORATORY
JUBILEE : Autonomous Underwater Vehicle
The Autonomous underwater robotics laboratory is currently developing an Autonomous Underwater Vehicle (AUV) with a 3D underwater
simulator as a test platform for underwater robotics research. Development of next generation AUVs with intervention capabilities is one of the
major research focuses presently. Major developmental issues here are autonomous vehicle control, and the sustained operation of the vehicle
under constrained environments. Intelligent control algorithms, better power options and addition of intervention capabilities are major
challenges in the development of this class of AUVs. The JUBILEE AUV will be the research platform to study various issues involved in the
control, navigation and intervention requirements of the vehicle. Along with this, associated technologies and systems will also be developed to
complement the full fledged development of the AUV system.
Thrusters
Control
(stern) planes
Batteries
Actuation
system
Accelerometer
Tilt Sensor
Back View
Front View
Side View
Vehicle Hull design and Propulsion
The Jubilee is designed with torpedo fish shape. A hydrodynamic profile will
be chosen for the hull to reduce drag forces and increase the propulsion
efficiency. The AUV will be equipped with two, twin bladed propeller
mounted side by side at the tail and which are making symmetry of on the
centre line. All the electronics associated with the motor controller will be
located within the pressure hull. It has two independently moving control
planes with actuator. Brushless DC motors housed in oil-filled pressurecompensated housings will be used as actuators. The yaw motion can be
achieved by differential thruster actuation. The vehicle is designed in such a
way that the vehicle is positively buoyant.
Navigation & Sensors
Navigation has been done with the help of Doppler velocity log and Inertial
navigation system (INS). In the present design, a simple two beam sonar
system will be used for obstacle avoidance. Tilt sensor and accelerometer
used to measure the attitude and rates of the vehicle respectively. For depth
measurement pressure sensor is used.
Top View
Vehicle Control
Using AUV sensors and actuators, the vehicle control computer
provides control and guidance. An Ethernet network can be used
to connect components onboard. A simplified configuration of
the on board controller is shown below. The controllers will be
based on simple, modular, and reusable software components
written in C language. Custom designed GUI will be used for
surface operations of the AUV.
Doppler
Velocity
Log
Power source for this vehicle is getting from two dedicated lithium ion
batteries which are located within pressure hull. Leak detector are placed in
the pressure hull, so that if any emergency it will produce necessary actions.
If the actuator fails, the vehicle will come up because of vehicle positive
buoyancy.
The vehicle can be operated in remotely operated mode with the help of base
station controller.
Positioning
Inclinometer
AUV on board
Controller / Computer
Position
Depth
Sensor
Power and Safety
Mode Manager
•Initialisation
•Maintenance
•Pilot
•AUV/ROV mode
•Stop
Mission
Planner
Inertial
Navigation
System
Mission
Executer
Heading
Thruster
Controller
Propulsion
Guidance
Targeting
Line-following
Profiling
Maneuvering
Actuators
Obstacle
Avoidance
Control
Obstacle
Avoidance
Energy
Power
Distribution
Data logging
Communications
Stop mode Controller
Vehicle Control architecture
Researchers : Dr. Asokan Thondiyath,
Mr. Santhakumar, Mr. Saravanakumar,Mr. Neelakanthu Karra, Mr. Thirupathi
Hydro plane
Controller