Abstract

A new kind of water jet underwater robot is proposed. The robot is equipped with two water jet thrusters which serve as main control mechanisms for the robot; thus the trajectory and attitude of the robot in multiple degrees can be maneuvered according to the commands of users. Laboratory experimental investigation on the behavior of this kind of underwater robot in a test water tank is reported, the hydrodynamic and control performances of the robot in the test water tank are described. In our paper the electromechanical control system to the robot is also introduced. The results of the experiment indicate that a flexible attitude and trajectory control of a tethered underwater robot can be achieved with the water jet thrusters proposed in this research.

Keywords:
robot, main body, underwater robot, water jet underwater robot, artificial intelligence, propeller, water jet orifice, thruster, attitude, tethered underwater robot
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2014. International Society of Offshore and Polar Engineers
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