HippoCampusX-A Hydrobatic Open-source Micro AUV for Confined Environments

Publikationstyp
Conference Paper
Date Issued
2020-09
Author(s)
Dücker, Daniel-André 
Bauschmann, Nathalie  orcid-logo
Hansen, Tim  
Kreuzer, Edwin  
Seifried, Robert  orcid-logo
Institut
Mechanik und Meerestechnik M-13  
TORE-URI
http://hdl.handle.net/11420/8766
Article Number
9267949
Citation
IEEE/OES Autonomous Underwater Vehicles Symposium (AUV 2020)
Contribution to Conference
IEEE/OES Autonomous Underwater Vehicles Symposium (AUV 2020)  
Publisher DOI
10.1109/AUV50043.2020.9267949
Scopus ID
2-s2.0-85094610624
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.
Subjects
confined environments
field exploration
Hydrobatics
micro AUV