Title:
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Development of a control system for an autonomous underwater vehicle
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Author:
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Masmitjà Rusiñol, Ivan; Masmitjà Rusiñol, Gerard; González Agudelo, Julián; Shariat Panahi, Shahram; Gomáriz Castro, Spartacus
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica; Universitat Politècnica de Catalunya. Centre de Desenvolupament Tecnològic de Sistemes d'Adquisició Remota i Tractament de la Informació (SARTI) |
Abstract:
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This work proposes the development of a control
system for an autonomous underwater vehicle dedicated to the
observation of the oceans. The vehicle, a hybrid between
Autonomous Underwater Vehicles (AUVs) and Autonomous
Surface Vehicles (ASV), moves on the surface of the sea and
makes vertical immersions to obtain profiles of a water column,
according to a pre-established plan. The displacement of the
vehicle on the surface allows the navigation through GPS and
telemetry communication by radio-modem. The vehicle is
2300mm long by 320mm wide. It weighs 85kg and reaches a
maximum depth of 30m. A control system based on an embedded
computer is designed and developed for this vehicle that allows a
vehicle's autonomous navigation. This control system has been
divided into navigation, propulsion, safety and data acquisition
subsystems. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles -Àrees temàtiques de la UPC::Enginyeria electrònica::Instrumentació i mesura -Submersibles--Design and construction -Vehicles, Remotely piloted -Ocean bottom--Research -Vehicles submergibles -Fons marins -- Investigació |
Rights:
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Document type:
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Article - Submitted version Conference Object |
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