Design and Control of an Ellipsoidal Underwater Robot Driven by Four-Vector Propellers

With the increasing demand for underwater exploration and intervention tasks, the development of efficient and maneuverable underwater robots is essential. This paper introduced a novel ellipsoidal underwater robot(EUR) designed specifically for precise motion control in aquatic environments. The prototype features a unique propulsion system and thruster configuration optimized for underwater navigation. Thrust vectoring was achieved through the rotation of the propulsion unit, enhancing maneuverability underwater. Detailed design aspects and practical realization of the four-propeller driven prototype were discussed. The kinematics and dynamics of the underwater robot were analyzed, followed by the description of the parallel PID control system, including position control, and attitude control algorithms. Simulations and experimental results demonstrated the effectiveness of the proposed design in achieving precise underwater motion control. The innovative design concept proposed in this paper will be of great value to the research and development of underwater robotics, which can be used to enhance precise navigation and maneuverability in diverse aquatic environments.