HippoCampus: A micro underwater vehicle for swarm applications

Publikationstyp
Conference Paper
Date Issued
2015
Sprache
English
Author(s)
Hackbarth, Axel  
Kreuzer, Edwin  
Solowjow, Eugen  
Institut
Mechanik und Meerestechnik M-13  
TORE-URI
http://hdl.handle.net/11420/6381
Start Page
2258
End Page
2263
Article Number
7353680
Citation
IEEE International Conference on Intelligent Robots and Systems (2015-December): 2258-2263 (2015)
Contribution to Conference
IEEE/ RSJ International Conference on Intelligent Robots and Systems, IROS 2015  
Publisher DOI
10.1109/IROS.2015.7353680
Scopus ID
2-s2.0-84958191180
Publisher
IEEE
The HippoCampus platform is a low-cost micro autonomous underwater vehicle for swarm robotics research. This paper presents the hardware and software design, the communication link, instrumentation, and control system. The quadrotor design enables the vehicle to perform agile maneuvers in a very confined test tank. Vehicle navigation is based on the on-board sensor suite. Autonomous path following is presented and experimental results are evaluated.
Subjects
estimation
hippocampus
robot sensing systems
underwater vehicles
vehicle dynamics
vehicles
DDC Class
600: Technik
620: Ingenieurwissenschaften