Diseño e implementación de un prototipo de robot subacuático autónomo dotado de un sistema de navegación inercial.

Abstract

In the present work, a prototype of autonomous underwater robot or vehicle (AUV) was designed and implemented, equipped with an inertial navigation system for orientation, with the use of an inertial measurement unit (IMU) that provides angular displacement, for positioning an ultrasonic sensor was used. Based on the computer-aided design (CAD) based on the requirements, the three-dimensional model with molten filament of polylactic acid (PLA) is printed. It consists of four propellers, two for the advance, two for submersion and a transparent acrylic dome in the front. It was necessary to perform a waterproofing treatment of the hull; a screw cap was adapted on the back of the prototype with the fin of having an access to the interior in an agile way. Depending on the requirements, the various components will be selected to later design and implement circuit connections. The classic closed-loop control theory will be considered to develop the prototype controller, which consists of two stages, a proportional controller for orientation and another proportional-integral controller for positioning, these being implemented with an Arduino Mega 2560. Variables to control are angular position and linear position, for this reason the target point is predefined. By means of the tests to which it was some type of prototype an acceptable precision (superior to 87%) is evidenced to reach the objective, the trajectory has a slight deviation affected by the variations of the orientation, but that does not affect the positioning of the prototype. In conclusion, the prototype implemented meets the silver requirements.