Publisher DOI: | 10.1109/AUV50043.2020.9267949 | Title: | HippoCampusX-A Hydrobatic Open-source Micro AUV for Confined Environments | Authors: | Dücker, Daniel-André ![]() Bauschmann, Nathalie ![]() Hansen, Tim Kreuzer, Edwin Seifried, Robert ![]() |
Keywords: | confined environments; field exploration; Hydrobatics; micro AUV | Issue Date: | Sep-2020 | Source: | IEEE/OES Autonomous Underwater Vehicles Symposium (AUV 2020) | Abstract (english): | Monitoring missions in confined underwater environments such as nuclear storage ponds or industry tanks call for highly maneuverable fully autonomous micro underwater robots. In this work, we target this challenging scenario with the new low-cost open-source HippoCampusX platform. We present a modular software and hardware architecture which is easily adaptable to mission specific requirements. Our system is part of the PX4-environment [1] and constitutes PX4's first underwater extension including a SITL simulation. We conduct a series of experiments to demonstrate HippoCampus' agile maneuvering capabilities and validate the derived dynamic model. |
Conference: | IEEE/OES Autonomous Underwater Vehicles Symposium (AUV 2020) | URI: | http://hdl.handle.net/11420/8766 | ISBN: | 978-172818757-0 | Institute: | Mechanik und Meerestechnik M-13 | Document Type: | Chapter/Article (Proceedings) |
Appears in Collections: | Publications without fulltext |
Show full item record
Page view(s)
101
Last Week
1
1
Last month
9
9
checked on Mar 22, 2023
SCOPUSTM
Citations
8
Last Week
0
0
Last month
0
0
checked on Jul 11, 2022
Google ScholarTM
Check
Add Files to Item
Note about this record
Cite this record
Export
Items in TORE are protected by copyright, with all rights reserved, unless otherwise indicated.