2 results
Now showing1 - 2 of 2
- Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , An integrated approach to navigation and control in micro underwater robotics using radio-frequency localizationNavigation and control are a largely unsolved problems for micro autonomous underwater vehicles (). The main challenges are due to the lack of accurate underwater localization systems, which fit on-board of . In this work, we present an integrated navigation and control architecture consisting of a low-cost embedded localization module and an underwater way-point tracking controller, which fulfills the requirements of . The performance of the navigation and control system is benchmarked in two different experimental scenarios.Publicationtype: Conference Paper211 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Micro underwater vehicle hydrobatics: a submerged furuta pendulum(IEEE, 2018-09); ; ; ; We present the new HippoCampus micro underwater vehicle, first introduced in [1]. It is designed for monitoring confined fluid volumes. These tightly constrained settings demand agile vehicle dynamics. Moreover, we adapt a robust attitude control scheme for aerial drones to the underwater domain. We demonstrate the performance of the controller with a challenging maneuver. A submerged Furuta pendulum is stabilized by HippoCampus after a swing-up. The experimental results reveal the robustness of the control method, as the system quickly recovers from strong physical disturbances, which are applied to the system.Publicationtype: Conference Paper329