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Task-based design of AUVs propulsion systems including fixed or vector thrusters

This work proposes a design method for the propulsion system of autonomous underwater vehicles (AUVs) based on the to be accomplished tasks or trajectories. The method adapts to AUVs involving both fixed and vector thrusters. It is based on the inverse kinematic and dynamic models of the AUV performing a task of trajectory tracking. We first determine the actuation requirement in terms of propulsion effort according to the required task. These efforts are thus used to generate propulsion capabilities in the form of a “Thrust configuration matrix” (TCM). This matrix depends on the positions and orientations of the thrusters, but also thrust controlled angles of vector thrusters. In general, this matrix is compatible with any desired Cartesian trajectory and may include fixed or vector thrusters. From this matrix can be extracted the number, the type, position and orientation of thrusters constituting the obtained propulsion system. Thus, the robot's propulsion capabilities will match the characteristics of the to-be-followed trajectory.