This work presents the last trials of Guanay II AUV in the Mediterranean Sea. Guanay II is an AUV designed to navigate on the surface of the sea following a path and at some points it carries out a vertical dive to take measurements of a water column. During the last year we have focused on the design of an automatic control and its algorithms. For the control system, we split the controller into two loops: an inner loop and an outer loop. The first loop is responsible for setting the yaw ¿ and the forward velocity u, given a reference (¿ref, uref). At this level we develop a fuzzy controller which integrates the different linear controllers adjusted for different forward velocities. The second loop is responsible for setting the reference for yaw and forward velocity for a given path. The mission consisted of following 13 waypoints along a total journey of 3600m with three vertical dives up to 5m of deep. Through this test the operability of the vehicle was validated and different designed controllers were also tested. During this mission, a set of measurements of salinity and temperature were obtained.

Peer Reviewed