Publisher DOI: 10.1109/IROS45743.2020.9341051
Title: Towards micro robot hydrobatics: Vision-based guidance, navigation, and control for agile underwater vehicles in confined environments
Language: English
Authors: Dücker, Daniel-André  
Bauschmann, Nathalie  
Hansen, Tim 
Kreuzer, Edwin 
Seifried, Robert  
Issue Date: 24-Oct-2020
Source: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)
Abstract (english): 
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.
Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 
ISBN: 978-172816212-6
Institute: Mechanik und Meerestechnik M-13 
Document Type: Chapter/Article (Proceedings)
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