Modelling and Control Design of Spilled Oil Tracking Autonomous Buoy

The article describes design, development and control of Autonomous tracking of spilled oil on the sea surface and transmission of useful data to a land station in real time by floating buoy robot called "SPILL OIL TRACKING AUTONOMOUS BUOY". Frequent occurrence of major oil spill in the recent years and its consequences on the environment have caught the attention of public and media. This has created a global awareness of the risks of oil spill and the damage they cause to the environment. To prevent oil spills from spreading and causing further damage over wider areas and over time, the spilled oil must be recovered while it is still drifting on the sea surface. For effective and efficient recovery of oil spill, meteorological and oceanographic data around the oil slick is of prime importance. Under the domain of the above requirements the new design of SOTAB-II has been delineated in this paper which shows good response over its predecessor. To achieve the above mentioned targets a detailed dynamic Simulink model including SOTAB-II maneuvering model, oil slick spread and drift model and oil sensor oil detecting model has been implimented. PID controller is implemented for controlling the size of the sail. The directional drifting of SOTAB-II is controlled using the oil sensor.