Naslov
Guidance, navigation and control system for the Tethra unmanned underwater vehicle

Autori
Molnar, L. ; Omerdić, Edin ; Toal, Daniel

Izvornik
International Journal of Control (0020-7179) 80 (2007), 7; 1050-1076

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
guidance and navigation of UUVs

Sažetak
High-resolution (acoustic & video) seabed survey requires deployment of sensors on platforms close to the seabed. The unstructured, harsh and hazardous nature of the ocean environment and close proximity to the seabed and other hazards produces serious problems for autonomous underwater vehicles (AUV) during the mission. The Mobile & Marine Robotics Research Centre at the University of Limerick is developing a highly manoeuvrable AUV/ROV platform to address the challenges of high-resolution seabed survey in both shallow and deep water. The overall system integrates state-of-the-art survey equipment, a multi-thruster open-frame AUV Tethra and an advanced control system. This paper gives an overview of the overall system including simulation results.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA