Underwater Robotic Tracking of Human-Defined Targets in Offshore Energy Applications

The development of underwater vehicles is a vital tool for exploring, monitoring, and responding to marine environments that are typically inaccessible or frightening to human beings. The intervention of underwater robots makes cross-oceans more manageable. As part of this work, the chapter focus on the fundamental aspects of underwater robot modeling and control. The second part of this chapter deals with the stabilization problem of the robot. The use of a control system is essential for underwater robots to ensure precise trajectory tracking, position stability, and attitude stabilization. The author offer in this section an explicit comparison between PID and FOPID Controllers. Finally, the study emphasizes the importance of Human-Machine Interaction (HMI) in robot control. An intuitive Dashboard (Simulink) was developed for real-time trajectory adjustment. Results validate the robot's ability to follow complex 3D paths and the HMI's effectiveness, although further controller optimization is required to improve performance during dynamic movements.