Quadro control for underwater mobile robot navigation

Abstract

This paper described the development of new propulsion configuration concept for the underwater mobile robot. It is called the quadro control underwater mobile robot. With this new design, the robot is using four motor where the position of motor is perpendicular to each other. Conventionally, the underwater robot either used the combination of single propeller and actuated fin or the tethered thruster. The power thrust produced by the conventional underwater robot is low, radius of turning needed is large and also high maintenance is required. With this new design of the propulsion configuration, the robot is capable to produce high power thrust. In addition, this design also capable to stabilize the robot against rolling action during forward movement. The chosen of the propeller is also important, in order to obtain the desired result. The unique of this research is the combination of pusher and puller propeller and the direction of motor rotation enable the underwater mobile robot to move forward, backward, left, right, upward and downward