Development ofglider typesmall AUV "SeaBird"

Generally experiments inatest tankarecarriedusing aDC servo motorforhobbyuse.SeaBird cancontrol outinadvancetogetthedynamiccharacteristic of fourmotions, heaving, surging, yawingandrolling underwater robots, andvarious motioncontrol lawsare changing twothrusters powerandwingangles. Onefeature evaluated basedonobtained dynamics oftherobot. Inthis oftheunderwater robot isthat thedirection ofthrusters can study, wemadeasmall andlightweight AUV asatestbed for bechanged together withwings. Theadvantage ofthis control performance evaluation. TheAUV hastwomodes, structure isthattherobot hastwomotionmode,cruising "cruising mode"inwhichthemotion iscontrolled bylift force mode andhovering mode,andthedisadvantage is ofthemainwings, and"hovering mode"controls theheave complexity ofcontrol. motionby rotating boththrusters tovertical direction.Therobotisdesigned witha 3D CAD software Mountedinstruments arelimited innecessary minimum "Autodesk Inventor". Thespecifications ofSeaBird are quantity aiming atthesmaller AUV.IntheAUV,twoservo showninTable1.Theoverall length is450(mm),the motors andtwothrusters aremounted formotion control.widthis710(mm)andtheweight is5.0(kg). Thecontrol Theservo motors control theangles ofthrusters andmain circuits aremadebased onPICanddsPICfromMicrochip wings, wherethetwothrusters areattached. tofittheinside oftheacylic pipebody. Asthesensory system, apressure sensor tomeasure thedepth, amagnet