Autonomous control of a horizontally configured undulatory flap propelled vehicle

This paper describes initial results regarding navigation and control algorithms developed for Gamera, an autonomous underwater vehicle. In order to perform high precision controlled motions, the robot employs a novel propulsion system known as Nektons, and carries a comprehensive sensor suite to track orientation and position. A model of the robot has been developed that relates the 12 robot controlled propulsion outputs-frequency, amplitude, and center point of oscillation for each of the four motors-to the forces generated by the entire system. We explore the rationalization of control algorithms for this system. Using these algorithms, Gamera demonstrates a high level of control and successfully performs pre-specified maneuvers autonomously.