Pembuatan Sistem Kendali Navigasi Wahana Selam Nir Awak Auv (Autonomous Underwater Vehicle)
Abstract: Marine observation
and research activities require a suitable transportation means that has an
ability to bring necessary equipment for data collection and observation into
the sea. One of the means that has the ability is AUV (Autonomous Underwater
Vehicle), an electric powered underwater vehicle. The vehicle does not require
cable connection from the surface and has an ability to move to global
positions according to programmable trajectory installed in a microcontroller
and other navigation equipment. The control system of the AUV trajectory is
programmed in the microcontroller. The navigation equipment consists of
integrated sensor. The main sensor used is global positioning sensor, digital
compass, pressure sensor, and 3-axys gyroscopes. The main focus of this paper
is the design and application of the control system for an underwater survey
vehicle that has an ability to bring necessary equipment for observation of
coastal area. The vehicle moves from an observation point to another according
to GPS assisted programmed data. The control system consists of the thruster
system, the depth control system, the positioning system and compass system.
The design and algorithm for the control system is proposed.
Penulis: Muhammad Tadjuddin
Kode Jurnal: jptmesindd130212
