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. ; Peer Reviewed ; Postprint (author’s final draft)
Development of a control system for an autonomous underwater vehicle
2010-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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
DDC: | 629 |
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