چكيده به لاتين
In many cases, a vehicle is required to operate in both air and water environments, which requires unique vehicles that can operate in both environments. Given the challenges of moving from water to air and air to water, the requirements of the propulsion system and underwater stability, and many other issues, achieving a fully operational vehicle capable of air operations and underwater movement is an important challenge. In this dissertation, an aquatic-aerial amphibious robot with active buoyancy control that is able to fly as well as maneuver underwater is presented. The aquatic-aerial amphibious robot uses a set of rotors and propellers for aerial and underwater maneuvers, and uses an ballast system to control the robot's buoyancy and depth in the water, as well as to integrate air to water and water to air. The closed loop control algorithm is used for stability and air maneuvering and moving on the water surface, while an open loop control algorithm is used for underwater maneuvers. Experimental results show that the prototype is fully operational with six degrees of underwater freedom, stable flight, water level performance and relatively good maneuverability underwater.
