Sensor Proccessing and Behaviour Control of a Small AUV
نویسندگان
چکیده
This paper presents the design of the electronics, the sensor data processing scheme and the implementation of the behaviour based control for a small autonomous underwater vehicle (AUV). The robot has a volume of 12dm and is used as a demonstration vehicle for underwater ai-technologies. The thruster configuration allows the μAUV to hover and its active light sensors enable obstacle detection abilities. The control features several behaviours like obstacle detection and depth sensor calibration and is completely autonomous. An ATMega128 functions as onboard CPU and due to the limited computing power we use a special scheduling algorithm which also acts as the behaviour arbiter.
منابع مشابه
A topology control algorithm for autonomous underwater robots in three-dimensional space using PSO
Recently, data collection from seabed by means of underwater wireless sensor networks (UWSN) has attracted considerable attention. Autonomous underwater vehicles (AUVs) are increasingly used as UWSNs in underwater missions. Events and environmental parameters in underwater regions have a stochastic nature. The target area must be covered by sensors to observe and report events. A ‘topology cont...
متن کاملClasses of Control Architectures for AUV: A brief survey
This paper provides a brief survey on the control architectures used in the underwater system and robotics research for AUV application. Advantages and disadvantages of each scheme are discussed briefly in the context of performance evaluation, design flexibility and extensibility, sensor or command fusion and integration, robustness and effectiveness of task modules. There are many schemes ava...
متن کاملکنترل مسیر خودکار میکرو زیردریایی 3 درجه آزادی با الهام از حرکت کوسهماهی
An autonomous underwater vehicle (AUV) with less noise and vortices as well as efficient power consumption, is pursued in this research by inspiration of shark swimming. Design, hydrodynamic analysis, modeling, fabrication, navigation, and control of this novel AUV is the main goal of this research. Detailed explanation of the test and experiment with a brief overview on fabrication are provide...
متن کاملDesign and Experimental Evaluation of integrated orientation estimation algorithm Autonomous Underwater Vehicle Based on Indirect Complementary Filter
This paper aims is to design an integrated navigation system constituted by low-cost inertial sensors to estimate the orientation of an Autonomous Underwater Vehicle (AUV) during all phases of under water and surface missions. The proposed approach relied on global positioning system, inertial measurement unit (accelerometer & rate gyro), magnetometer and complementary filter technique. Complem...
متن کاملTHE APPLICATION OF A MODULAR AUV TO COASTAL OCEANOGRAPHY: CASE STUDY ON THE OCEAN EXPLORER - OCEANS '95. MTS/IEEE. 'Challenges of Our Changing Global Environment'. Conference Proceedings
This paper describes the application of the FAUIUSF Ocean Explorer (OE) series autonomous underwater vehicle (AUV) to a series of coastal measurement tasks. The Ocean Explorer is a small, lowcost, long range AUV whose primary purposes are coastal oceanographic survey missions and support of littoral warfare. Over a dozen different sensor payloads are under development at USF and FAU for deploym...
متن کامل