|Publisher DOI:||10.1109/ICRA.2019.8794088||Title:||An integrated approach to navigation and control in micro underwater robotics using radio-frequency localization||Language:||English||Authors:||Dücker, Daniel-André
|Issue Date:||May-2019||Source:||IEEE International Conference on Robotics and Automation : 8794088 (2019-05)||Abstract (english):||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.||Conference:||2019 International Conference on Robotics and Automation, ICRA 2019||URI:||http://hdl.handle.net/11420/3367||ISBN:||978-153866026-3||ISSN:||10504729||Institute:||Mechanik und Meerestechnik M-13||Type:||InProceedings (Aufsatz / Paper einer Konferenz etc.)||Funded by:||This research was supported by the German Research Foundation (DFG) under grant Kr752/36-1.||Project:||Zustandsschätzung von Strömungsfeldern und Quellfindung mittels dynamisch positionierter Unterwasser-Sensorknoten.|
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