Applications of Algorithms Applied to an Autonomous  Underwater Vehicle for 2D and 3D Trajectories

Gonçalo Miguel de Seixas Luz

Key information

Authors:

Gonçalo Miguel de Seixas Luz (Gonçalo Miguel De Seixas Luz)

Supervisors:

David Alexandre Cabecinhas (David Alexandre Cabecinhas); António Manuel dos Santos Pascoal (António Manuel dos Santos Pascoal)

Published in

November 29, 2024

Abstract

This dissertation explores control and path following strategies for autonomous underwater vehicles (AUVs), focusing on the development and simulation of a new vehicle model, FUSION. As the demand for efficient and autonomous seabed inspection grows, this work addresses the inherent challenges of underwater navigation and environmental monitoring by designing a highly actuated AUV capable of operating in both remotely operated vehicles (ROV ) and AUV modes. The FUSION model is rigorously tested through simulations across two-dimensional (2D) and three-dimensional (3D) environments, following predefined linear, circular, and helical paths. The study implements and evaluates two prominent path following algorithms, namely Lapierre and Samson, providing a comparative analysis of their effectiveness in dynamic marine conditions. Using MATLAB Simulink, a modular simulation framework is developed to assess vehicle control and path accuracy, incorporating real-time error analysis. The results highlight FUSION’s capability for precise path adherence, making it a promising solution for autonomous seabed surveillance and environmental monitoring missions. This research contributes to the ongoing development of robust, adaptable, and efficient AUV systems, ultimately enhancing the capabilities of autonomous marine operations.