Obstacle Avoidance System for Unmanned Underwater Vehicle Using Fin System
M.S.M. Aras1, M.F. Basar2, S.S. Abdullah3, F.A. Azis4, F.A. Ali5
1Mohd Shahrieel Mohd Aras, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Ayer Keroh, Melaka, Malaysia.
2M.F. Basar, Faculty of Engineering Technology, Universiti Teknikal Malaysia Melaka, Ayer Keroh, Melaka, Malaysia.
3Dr. Shahrum Shah Abdullah, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Johor, Malaysia.
4Fadilah Binti Abdul Azis, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Ayer Keroh, Melaka, Malaysia.
5Fara Ashikin Binti Ali, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Ayer Keroh, Melaka, Malaysia.
Manuscript received on August 05, 2013. | Revised Manuscript received on August 11, 2013. | Manuscript published on August 15, 2013. | PP: 24-30 | Volume-1 Issue-9, August 2013. | Retrieval Number: I0407081913/2013©BEIESP
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© The Authors. Published By: Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: An underwater glider is a type of an unmanned underwater vehicle (UUV). The movement of an underwater glider in the water is based on the buoyancy-propelled for float and fixed-winged for stabilizing the glider’s body. However, a fixed wing underwater glider has limitation to avoid hitting the obstacle in front of it. To overcome this problem, the application of fin system in underwater glider is needed. In this project, a methodology was introduced which is design a flexible fin system of an underwater glider for obstacle avoidance purpose. This final year project mainly focused on Solid Works’s simulation and analysis of -30°, -45°, -60° for submerge and rise up at 30°, 45°, 60° to get the most suitable angle for the glider’s fin system to submerge and rise up. The UTeM underwater glider is modified from fixed to flexible wing. Hence, Peripheral Interface Controller (PIC) is used to program the movement of the glider’s wings for upward at 45°and downward at -45°in the water. Thus, a flexible fin system for obstacle avoidance is designed and applied in UTeM underwater glider.
Keywords: Underwater glider, fin system, obstacle avoidance.