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All Journal IAES International Journal of Robotics and Automation (IJRA)
M. C.E. Yagoub
University of Ottawa
Automotive Engineering Electrical & Electronics Engineering

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Design and Control of Underwater Robots with Rotating Thrusters Ali Jebelli; M. C.E. Yagoub; B. S. Dhillon
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 4: December 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (630.157 KB) | DOI: 10.11591/ijra.v5i4.pp284-294

Abstract

Among other robots, underwater robot design involves critical control issues due to complex non-linear force and turns controlling. In this paper, a robust approach was proposed to efficiently control the behavior of an underwater robot through five degrees of freedom. Also, by designing a new type of a pair of thruster with the ability to 360 degree rotation along with a mass shifter, it gives this possibility to the robot that easily and with a minimal energy, change its depth quickly, preserving its balance best possible at the same time.
Co-Authors Ali Jebelli B. S. Dhillon