Coral reefs play a key role in the global Marine ecosystem, facing their increasingly urgent monitoring and restoration needs, underwater robots as an effective means of coral reef monitoring and restoration have received more and more attention. However, the underwater structural environment in coral ecological area is complicated, and it is easy to be affected by undercurrent, which causes problems such as difficult control and poor system stability during robot operation. In order to achieve stable underwater fixed depth hover and accurate underwater attitude control, a full-vector helical propulsion robot is designed in this paper, which integrates fuzzy PID control and adaptive adjustment, in order to achieve stable control of the robot in complex waters, and then multi-angle coral reef morphological monitoring and restoration. Through ROS platform simulation tests and underwater simulation experiments, compared with traditional robot mechanisms and control methods, the fuzzy PID control combined with full-vector helical propulsion and adaptive adjustment has significant advantages in environmental response sensitivity, system stability and anti-interference ability, which can provide platform support for coral reef ecosystem monitoring or restoration.
 

Underwater robot; Adaptive adjustment; Fuzzy PID; Coral reef; Ecological monitoring