The Autonomous Systems Laboratory is in the midst of developing an advanced underwater robotic technology test platform. The platform consists of the Omni-Directional Intelligent Navigator (ODIN) and the Integrated Graphic Workstation (IGW). ODIN is a six degree-of-freedom (dof) underwater vehicle with dual operational modes (autonomous and tethered) and a single dof mechanical manipulator. IGW is a real-time, 3-dimensional graphic monitoring, testing, and evaluation workstation. This paper presents ODIN's mechanical and electrical specifications; its vehicle dynamics and depth control system; its recent simulation and experimental results; and IGW's specifications.


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    Title :

    Development of the Omni Directional Intelligent Navigator


    Additional title:

    Entwicklung des intelligenten Navigationssystems für das Unterwasser-Roboterfahrzeug


    Contributors:
    Choi, S.K. (author) / Yuh, J. (author) / Takashige, G.Y. (author)

    Published in:

    Publication date :

    1995


    Size :

    10 Seiten, 31 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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