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Item type:Publication, Access status: without files , Towards micro robot hydrobatics: Vision-based guidance, navigation, and control for agile underwater vehicles in confined environments(2020-10-24); ; ; ; Despite the recent progress, guidance, navigation, and control (GNC) are largely unsolved for agile micro autonomous underwater vehicles (μAUVs). Hereby, robust and accurate self-localization systems which fit μAUVs play a key role and their absence constitutes a severe bottleneck in micro underwater robotics research. In this work we present, first, a small-size low-cost high performance vision-based self-localization module which solves this bottleneck even for the requirements of highly agile robot platforms. Second, we present its integration into a powerful GNC-framework which allows the deployment of μAUVs in fully autonomous mission. Finally, we critically evaluate the performance of the localization system and the GNC-framework in two experimental scenarios.Publicationtype: Conference Paper80 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , RGB-D Camera-based Navigation for Autonomous Underwater Inspection using Low-cost Micro AUVs(2020-09-30); ; Commercial RGB-D cameras enable even small scale mobile robots with sophisticated and cost-efficient 3D-scanning capabilities. We transfer this sensory concept to the domain of underwater structure inspections. Hereby, we address the problem of autonomous robot navigation at close distance to the inspected structure. Therefore, we propose a depth-camera based lightweight online planning and navigation methodology which enables micro autonomous underwater vehicles (μAUVs) to autonomously inspect structures with unknown geometry. We demonstrate the effectiveness of our approach in simulation and experiments and discuss the results in the context of prior work. All software and hardware designs used in this work will be made available online.Publicationtype: Conference Paper115 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , HippoCampusX-A Hydrobatic Open-source Micro AUV for Confined EnvironmentsMonitoring missions in confined underwater environments such as nuclear storage ponds or industry tanks call for highly maneuverable fully autonomous micro underwater robots. In this work, we target this challenging scenario with the new low-cost open-source HippoCampusX platform. We present a modular software and hardware architecture which is easily adaptable to mission specific requirements. Our system is part of the PX4-environment [1] and constitutes PX4's first underwater extension including a SITL simulation. We conduct a series of experiments to demonstrate HippoCampus' agile maneuvering capabilities and validate the derived dynamic model.Publicationtype: Conference Paper200