Towards an Open-Source Micro Robot Oceanarium: A Low-Cost, Modular, and Mobile Underwater Motion-Capture System

Publikationstyp
Conference Paper
Publikationsdatum
2019-11
Sprache
English
Author
Dücker, Daniel-André 
Eusemann, Kevin 
Kreuzer, Edwin 
Institut
Mechanik und Meerestechnik M-13 
TORE-URI
http://hdl.handle.net/11420/5578
Start Page
8048
End Page
8053
Article Number
8968280
Citation
IEEE International Conference on Intelligent Robots and Systems: 8968280 (2019-11)
Contribution to Conference
IEEE International Conference on Intelligent Robots and Systems, IROS 2019 
Publisher DOI
10.1109/IROS40897.2019.8968280
Scopus ID
2-s2.0-85081158428
Micro autonomous underwater vehicles (μAUVs) allow early-stage experimental testing even in small tanks. In contrast to large facilities, these tanks are usually not equipped with high-fidelity motion capture systems due to high cost and reduced required accuracy for proof-of-concept testing.In this work, we introduce low-cost and open-source motion capture architecture based on fiducial markers for small research tanks. We propose a highly modular approach which allows straight-forward adaptation to individual user needs. We demonstrate the performance of our architecture in two experimental setups.
DDC Class
620: Ingenieurwissenschaften