In the narrow shallow water area, the underwater environment is complex and changeable, and the water area is narrow. Because of water body flow, various risks and unpredictable conditions, such as turbulence, vortex, disturbance, and so on exist which could seriously interfere with the motion and control of the underwater vehicle. In this way, the automatic stability and flexibility of multi-dimensional motion under external disturbance becomes the basis and requirement of underwater control and operation. In this paper, the structure design of the main body and power system of the narrow shallow water multi-purpose underwater vehicle was proposed to realize stable and flexible motion, and the driving mode of the coupling degree of freedom was designed and analyzed. The feasibility of the plan was verified via theory and simulation. Its vision system design was also introduced. Simulation and experiment results proved the correctness of the design and analysis.
Pan, Nan; Guo, Xiao-Jue; Qian, Jun-Bing; Luo, Yong-You; and Liu, Yi
"Research on Structural Design and Vision System of Narrow Shallow Water Multipurpose Underwater Robot,"
Journal of Marine Science and Technology: Vol. 28
, Article 4.
Available at: https://jmstt.ntou.edu.tw/journal/vol28/iss6/4