Design and Implementation of Autonomous Underwater Vehicle "NEMO III"

In recent years, with the increasing progress of the country in the development and utilization of marine resources, the development of underwater robot technology has become more and more rapid, and a large number of marine exploration tools and means have been developed, especially, the underwater autonomous vehicle (AUV),as a human robot to explore the unknown marine world, which has become a research hotspot in the field of marine environmental development technology.This paper elaborates on the multi-purpose intelligent sensing underwater vehicle developed by the team. The aircraft adopts modular design structure, omnidirectional drive propulsion mode, can be equipped with a variety of sound and light detection instruments, and uses PID and cross-spectral control algorithms. Accurate positional relationship is calculated from the acquired data, and after data fusion, it is output to the control system, and the task path is planned in real time and navigation and driving instructions are issued to realize completely unmanned navigation. For the target object in the underwater environment, combined with the image recognition and feature matching algorithm and the underwater acoustic directional guidance detection method, the effectiveness of the whole system structure applied to the "NEMO III" AUV control is demonstrated.The actual flight test verified that the self-developed "NEMO III" AUV can independently plan the mission path and perceive the target feature information according to the underwater scene environment, and control the aircraft to complete the underwater high-precision operation tasks independently. It has certain autonomous decision-making and intelligence. The ability to control indicates that the technology can be applied to engineering practice.