Advanced control procedure for autonomous underwater robots

When we wish to achieve an autonomous control mode of a submersible robot, we must take into account data collected from sensors such as location, steady or dynamic states of the robot. Within this article will deal with a method for obtaining robot status from data collected with a tri-axial gyroscope in order to establish the state of rest or motion. The data collected with the tri-axial gyroscope were acquired, filtered and processed. Using the threshold method and signal magnitude area we were able to determine in every time the state of the robot. The proposed method classified data with an accuracy of 99.8%.