Guidance, navigation and control system for the Tethra unmanned underwater vehicle

被引：12
作者：
Molnar, L. [1 ]
Omerdic, E. [1 ]
Toal, D. [1 ]
机构：
[1] Univ Limerick, Mobile & Marine Robot Res Ctr, Limerick, Ireland
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2007年 / 80卷 / 07期
关键词：
D O I：
10.1080/00207170701245039
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
High-resolution (acoustic & video) seabed survey requires deployment of sensors on platforms close to the seabed. The unstructured, harsh and hazardous nature of the ocean environment and close proximity to the seabed and other hazards produces serious problems for autonomous underwater vehicles (AUV) during the mission. The Mobile & Marine Robotics Research Centre at the University of Limerick is developing a highly manoeuvrable AUV/ROV platform to address the challenges of high-resolution seabed survey in both shallow and deep water. The overall system integrates state-of-the-art survey equipment, a multi-thruster open-frame AUV Tethra and an advanced control system. This paper gives an overview of the overall system including simulation results.
引用
收藏
页码：1050 / 1076
页数：27
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