Path Following Control System of Line-of-Sight Guidance for Robotic Dolphin with Multi-Link Mechanism in Underwater Simulator

2026-05-24

AI Summary

This study addresses the challenge of adapting existing path-following methods to the complex dynamics of multi-link biomimetic underwater robots, which has been hindered by insufficient simulation validation. Focusing on a biomimetic dolphin robot, this work proposes the first line-of-sight (LOS) guidance-based path-following framework specifically designed for multi-link architectures. By integrating an accurate dynamic model with a high-fidelity underwater simulation environment, the approach enables efficient tuning of control parameters and thorough validation of the control strategy. The proposed method not only fills a critical gap in dedicated path-following control for multi-link biomimetic underwater vehicles but also demonstrates its effectiveness and feasibility through comprehensive simulations in a realistic virtual setting.

Abstract

Biomimetic autonomous underwater vehicle (BAUV) with multi-link mechanism is widely used in aquatic life observation and environmental surveys due to its low power consumption and high maneuverability. An environmental survey requires a path following system that automatically follows specific points. However, the path following system of BAUV is limited, and its evaluation with multi-link mechanism robots has not yet been clarified. The path following system in BAUV requires prior simulation because the model differs depending on the type of biomimetics. In this study, we propose a path following system for BAUVs with a multi-link mechanism and evaluation in underwater simulation. In this result, it was possible to design a path following system suitable for BAUV, determine parameters using a simulator, and evaluate control methods.

Problem

• path following
• biomimetic autonomous underwater vehicle
• multi-link mechanism
• underwater simulation
• environmental survey

Innovation

• path following
• line-of-sight guidance
• multi-link mechanism
• biomimetic AUV
• underwater simulation