I-AUV Mechatronics Integration for the TRIDENT FP7 Project

被引：99

作者：

Ribas, David ^{[1
]}

Ridao, Pere ^{[1
]}

Turetta, Alessio ^{[2
,3
]}

Melchiorri, Claudio ^{[4
]}

Palli, Gianluca ^{[4
]}

Javier Fernandez, Jose ^{[5
]}

Jose Sanz, Pedro ^{[5
]}

机构：

[1] Univ Girona, Dept Comp Engn, Girona 17003, Spain

[2] Graal Tech SRL, I-16128 Genoa, Italy

[3] Ctr Integrated Syst Marine Environm, I-16128 Genoa, Italy

[4] Univ Bologna, Dept Elect Elect & Informat Engn, I-40126 Bologna, Italy

[5] Jaume I Univ, Dept Comp Sci & Engn, Castellon de La Plana 12071, Spain

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2015年 / 20卷 / 05期

关键词：

Autonomous underwater vehicle (AUV); intervention; underwater robotics; MANIPULATION; DESIGN;

D O I：

10.1109/TMECH.2015.2395413

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 TRIDENT project is one of the most recent examples of such technological concept. This paper describes the different mechatronic components that constitute the I-AUV developed for the TRIDENT project, their hardware and software integration, and the performance of the vehicle during the project trials.

引用

页码：2583 / 2592

页数：10

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