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Temperature Gradient Following Method for box-shaped AUV

机译：箱形AUV的温度梯度跟踪方法

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Autonomous underwater vehicles (AUVs) gain importance in all fields of marine industry. Today, autonomous underwater vehicles offer a wide capability spectrum. But these very complex and cost-intensive robot systems are often developed for a special task or a limited depth range. They should be used to execute long time surveys or monitor underwater surrounding and geological, chemical, and biological points of interest systematically and with less intervention of the users. Hence, a lot of work has been done on the area of AUV motion control and providing the users with control applications like seabed mapping, underwater inspection algorithms, and formation control methods to meet with these demands. Against this background, the paper describes a temperature control application, which monitors and follows an unknown temperature distribution using given reference isotherms. The proposed temperature control structure has been designed as variable two-level controller with integral action, which uses the actual gradient of the depth difference between the isotherms to adapt the reference depth, instead of applying the path of the isotherm itself. In that way the temperature control system is designed for use with a depth-controlled autonomous underwater vehicle. Finally, simulations are presented to show the usability of the proposed temperature monitoring and following system using measured and artificially generated temperature distributions.
机译：自主水下航行器（AUV）在海洋工业的所有领域中都变得越来越重要。如今，自主水下航行器提供了广泛的功能范围。但是，这些非常复杂且成本高昂的机器人系统通常是为特殊任务或有限的深度范围而开发的。它们应用于执行长时间的调查或系统地监控水下周围环境以及地质，化学和生物关注点，并且用户的干预较少。因此，在AUV运动控制领域已经完成了许多工作，并为用户提供了控制应用程序，例如海床制图，水下检查算法和地层控制方法，以满足这些需求。在此背景下，本文描述了一种温度控制应用程序，该应用程序使用给定的参考等温线监视并跟踪未知的温度分布。所提出的温度控制结构已设计为具有积分作用的可变两级控制器，该控制器使用等温线之间的深度差的实际梯度来适应参考深度，而不是应用等温线本身的路径。这样，温度控制系统被设计用于深度控制的自主水下航行器。最后，仿真结果表明使用所测得的和人工产生的温度分布，所提出的温度监测和跟踪系统的可用性。

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