Distributed Underwater Jet Propulsion Based Maneuverable Rudderless AUV: Design Fabrication and Testing

Zhangtao Wang; Wenle Wu; Yi Wan; Xingjian Wang; Shaoping Wang

doi:10.1109/WRCSARA60131.2023.10261797

Distributed Underwater Jet Propulsion Based Maneuverable Rudderless AUV: Design Fabrication and Testing

Zhangtao Wang^*
, Wenle Wu
, Yi Wan
, Xingjian Wang
, Shaoping Wang

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University
Tianmushan Laboratory

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Underwater vehicles are an important technical means for the development and utilization of marine resources. With the continuous deepening of marine development, the application scenarios of Autonomous Underwater Vehicles (AUV) have been further expanded to offshore areas with dense reefs, narrow and turbid pipeline caves, and environments that require precise mechanical operation and attitude control. Traditional propeller and rudder control systems face severe challenges such as insufficient maneuverability and susceptibility to underwater object entanglement and failure. To meet the needs of AUV for propulsion and attitude control in complex application scenarios, a distributed jet propulsion method is proposed in this paper. In this study, a prototype of distributed jet propulsion based maneuverable rudderless AUV was designed and built, which realized the multi-degree-of-freedom pose adjustment of AUV, and verified the superior mobility and reliability of distributed jet propulsion.

Original language	English
Title of host publication	2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	304-309
Number of pages	6
ISBN (Electronic)	9798350307320
DOIs	https://doi.org/10.1109/WRCSARA60131.2023.10261797
State	Published - 2023
Event	5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023 - Beijing, China Duration: 19 Aug 2023 → …

Publication series

Name	2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023

Conference

Conference	5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023
Country/Territory	China
City	Beijing
Period	19/08/23 → …

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

Access to Document

10.1109/WRCSARA60131.2023.10261797

Cite this

Wang, Z., Wu, W., Wan, Y., Wang, X., & Wang, S. (2023). Distributed Underwater Jet Propulsion Based Maneuverable Rudderless AUV: Design Fabrication and Testing. In 2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023 (pp. 304-309). (2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WRCSARA60131.2023.10261797

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title = "Distributed Underwater Jet Propulsion Based Maneuverable Rudderless AUV: Design Fabrication and Testing",

abstract = "Underwater vehicles are an important technical means for the development and utilization of marine resources. With the continuous deepening of marine development, the application scenarios of Autonomous Underwater Vehicles (AUV) have been further expanded to offshore areas with dense reefs, narrow and turbid pipeline caves, and environments that require precise mechanical operation and attitude control. Traditional propeller and rudder control systems face severe challenges such as insufficient maneuverability and susceptibility to underwater object entanglement and failure. To meet the needs of AUV for propulsion and attitude control in complex application scenarios, a distributed jet propulsion method is proposed in this paper. In this study, a prototype of distributed jet propulsion based maneuverable rudderless AUV was designed and built, which realized the multi-degree-of-freedom pose adjustment of AUV, and verified the superior mobility and reliability of distributed jet propulsion.",

author = "Zhangtao Wang and Wenle Wu and Yi Wan and Xingjian Wang and Shaoping Wang",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023 ; Conference date: 19-08-2023",

year = "2023",

doi = "10.1109/WRCSARA60131.2023.10261797",

language = "英语",

series = "2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "304--309",

booktitle = "2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023",

address = "美国",

}

Wang, Z, Wu, W, Wan, Y, Wang, X & Wang, S 2023, Distributed Underwater Jet Propulsion Based Maneuverable Rudderless AUV: Design Fabrication and Testing. in 2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023. 2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023, Institute of Electrical and Electronics Engineers Inc., pp. 304-309, 5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023, Beijing, China, 19/08/23. https://doi.org/10.1109/WRCSARA60131.2023.10261797

Distributed Underwater Jet Propulsion Based Maneuverable Rudderless AUV: Design Fabrication and Testing. / Wang, Zhangtao; Wu, Wenle; Wan, Yi et al.
2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 304-309 (2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Distributed Underwater Jet Propulsion Based Maneuverable Rudderless AUV

T2 - 5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

AU - Wang, Zhangtao

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AU - Wan, Yi

AU - Wang, Xingjian

AU - Wang, Shaoping

PY - 2023

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N2 - Underwater vehicles are an important technical means for the development and utilization of marine resources. With the continuous deepening of marine development, the application scenarios of Autonomous Underwater Vehicles (AUV) have been further expanded to offshore areas with dense reefs, narrow and turbid pipeline caves, and environments that require precise mechanical operation and attitude control. Traditional propeller and rudder control systems face severe challenges such as insufficient maneuverability and susceptibility to underwater object entanglement and failure. To meet the needs of AUV for propulsion and attitude control in complex application scenarios, a distributed jet propulsion method is proposed in this paper. In this study, a prototype of distributed jet propulsion based maneuverable rudderless AUV was designed and built, which realized the multi-degree-of-freedom pose adjustment of AUV, and verified the superior mobility and reliability of distributed jet propulsion.

AB - Underwater vehicles are an important technical means for the development and utilization of marine resources. With the continuous deepening of marine development, the application scenarios of Autonomous Underwater Vehicles (AUV) have been further expanded to offshore areas with dense reefs, narrow and turbid pipeline caves, and environments that require precise mechanical operation and attitude control. Traditional propeller and rudder control systems face severe challenges such as insufficient maneuverability and susceptibility to underwater object entanglement and failure. To meet the needs of AUV for propulsion and attitude control in complex application scenarios, a distributed jet propulsion method is proposed in this paper. In this study, a prototype of distributed jet propulsion based maneuverable rudderless AUV was designed and built, which realized the multi-degree-of-freedom pose adjustment of AUV, and verified the superior mobility and reliability of distributed jet propulsion.

UR - https://www.scopus.com/pages/publications/85174164031

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DO - 10.1109/WRCSARA60131.2023.10261797

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T3 - 2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023

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BT - 2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023

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ER -

Wang Z, Wu W, Wan Y, Wang X , Wang S. Distributed Underwater Jet Propulsion Based Maneuverable Rudderless AUV: Design Fabrication and Testing. In 2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 304-309. (2023 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2023). doi: 10.1109/WRCSARA60131.2023.10261797

Distributed Underwater Jet Propulsion Based Maneuverable Rudderless AUV: Design Fabrication and Testing

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