Research on an Autonomous Underwater Helicopter with Less Thrusters

Autonomous underwater helicopter, referred to as AUH, has high maneuverability in the horizontal plane and stable movement vertical direction due its disc shape. Thus, AUH demonstrates great advantages when working scenarios that require accuracy of movement, fixed height depth, operation near seafloor, so on. In this paper, we propose a new design for an autonomous helicopter with three thrusters (three-vertical-thrusters), it is equipped fewer while maintaining motion stability. The three-vertical-thruster not only achieves attitude control, but also reduces number thrusters, enabling save space, reduce drag, decrease power consumption. structure designed first compared existing four-vertical-thrusters type verify through dynamic analysis hydrodynamic simulation. then modelled, compensation method proposed more complex control. AUH’s controllability stability are verified by experiments on basis experimental prototypes.