An integrated approach to navigation and control in micro underwater robotics using radio-frequency localization

Publikationstyp
Conference Paper
Date Issued
2019-05
Sprache
English
Author(s)
Dücker, Daniel-André 
Johannink, Tobias  
Kreuzer, Edwin  
Rausch, Viktor  
Solowjow, Eugen  
Institut
Mechanik und Meerestechnik M-13  
TORE-URI
http://hdl.handle.net/11420/3367
Volume
2019-May
Start Page
6846
End Page
6852
Article Number
8794088
Citation
IEEE International Conference on Robotics and Automation : 8794088 (2019-05)
Contribution to Conference
IEEE International Conference on Robotics and Automation, ICRA 2019  
Publisher DOI
10.1109/ICRA.2019.8794088
Scopus ID
2-s2.0-85071512660
Navigation 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.