Embedded system for controlling a mini underwater vehicle in autonomous hover mode

This work presents the development of a mini underwater vehicle (Triton-PR), the embedded system, and the experiments in real-time for autonomous hover operation. Artificial vision allows the vehicle to obtain the translational position and velocity. The main characteristic of the embedded system is the implementation of low cost devices and materials, besides the number and location of the thrusters was chosen in order to have enough power and generate the rotation and translation movements. The dynamical model of the (Triton-PR) is described by the classic Euler-Lagrange equations, and a PD controller based on saturation functions is proposed for providing autonomous attitude and position of the robot. Finally, the performance of the vehicle is shown in simulation and real-time experimental results.