Authors:
L. Nava-Balanzar
1
;
J. L. Sanchez-Gaytán
1
;
F. Fonseca-Navarro
1
;
T. Salgado-Jiménez
1
;
M. Á. Reyna-Alonso
2
;
L. G. Garcia-Valdovinos
1
;
O. Rubio-Lopez
1
;
A. Gómez-Espinosa
2
and
A. Ramirez-Martinez
1
Affiliations:
1
Center for Engineering and Industrial Development - CIDESI, Mexico
;
2
Tecnológico de Monterrey, Mexico
Keyword(s):
Unmanned Surface Vessels (USV), ROV, USV-ROV System and Auto Tuned PID.
Abstract:
This paper presents the design, construction and control of an Unmanned Surface Vessel (USV) along with a
ROV (Remotely Operated Vehicle) system, called USV-ROV system. These systems are mainly used for
underwater inspection of shallow water structures, such as: ports, bridges bases and platforms. The USV-ROV,
developed at CIDESI-Mexico, has been designed for academic purposes. This paper describes the
Surface Control Unit (SCU), the ROV and the USV, including: electronics architecture, data managing,
sensors, actuators and mechanical design considerations. USV and ROV control strategies preliminary results
are presented. Real time experiments are shown for: USV heading control, and ROV depth and heading
control. The goal of this paper is to present preliminary results of a coordinated USV-ROV system, desgined
for the development of inspection and surveillance techniques accroding to the marine and submarine
application; however, these techniques are not commercially availab
le and have to be developed with an open
architecture system like the presented here.
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