Portable Low - cost Shallow Water Operation Modular Reactive Perceptive Autonomous Underwater Vehicle
نویسنده
چکیده
This paper describes Jal, the new AUV designed by the student team of IURS for the purpose of shallow water survey, analysis and pipeline repair and monitoring operations. Propelled by two lateral and vertical propulsion thrusters, Jal weighs only about 7 Kg and measures close to 0.45 m in length and 0.36 m in width & height. Onboard sensor systems, custom passive sonar, real-time computer vision, sophisticated power system, a self designed IMU and a multi-agent action-oriented reactive perception software design is used for reliable operation of the submersible. The paper describes the architecture, components and software of the portable low cost AUV in detail.
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تاریخ انتشار 2007