Design And Experiment Of Light-duty AUV In Shallow Water

The Autonomous Underwater Vehicle (AUV) is applied in the ocean salvage, the deep sea resources investigation, the ocean petroleum mine, underwater engineering construction, the military and national defenses etc. It has produced the huge economic performance and social performances, and it has latent applied foreground. The AUV technique is also hot point that the international community invests huge money in study.This thesis depends on the successful experience in designing underwater vehicles all over the world, through the study of structure factors of underwater vehicles, designs the structure of the one-thruster three-rudder Underwater Robot. And judges the kinematic stability of the robot by analyzing and experimenting. It is proved by the result of the analysis and experiment that one-thruster three-rudder Underwater Vehicle is suitable to be used for experimenting in shallow water.This dissertation's main work and innovations is following:1. Due to mission requirements, This paper firstly made collectivity design of an Light-duty AUV, including body design, hull design and airproof etc.2. This paper made the mechanism design and all of the blueprint,and successfully realize the control of the helms throw the singlechip.3. This paper done the poor balance examination successfully, and done the laboratory pool kinematic stability experiment in horizontal plane. This machine will be the first Light-duty AUV in Shallow Water in Ocean University of China.