Control system design of UUV Rajaampat for underwater inspection

Abstract

The control system design plays a pivotal role in enabling efficient and reliable operations of Unmanned Underwater Vehicles (UUVs) for underwater inspection tasks. This paper presents the control system design of UUV Rajaampat, specifically tailored for underwater inspection missions. The control architecture comprises perception, planning, and control modules, enabling autonomous navigation, obstacle avoidance, and mission execution. Advanced sensor fusion techniques are employed to integrate data from various sensors, including sonar and cameras, for accurate perception and mapping of the underwater environment. Adaptive control algorithms are developed to enhance navigation precision and maneuverability while ensuring obstacle avoidance. The control system is validated through simulation studies and real-world experiments, demonstrating its effectiveness in enabling the UUV Rajaampat to perform complex underwater inspection tasks autonomously and reliably. The results highlight the significance of a well-designed control system for the successful deployment of UUVs in underwater inspection missions, paving the way for future advancements in autonomous underwater robotics.