Robust Robots for Arctic Exploration
Thomas Vögele, Jan Albiez, Sylvain Joyeux, Marc Hildebrandt, Frank Kirchner
In Proceedings of ATC Arctic Technology Conference 2011, (ATC-2011), 07.2.-09.2.2011, Houston, TX, o.A., volume 2, pages 731-737, Feb/2011.
Under-ice exploration in the Arctic Ocean requires robust and reliable robotic tools. Autonomous underwater vehicles (AUVs) used in this environment have to be able to navigate reliably and with precision without the help of a dedicated infrastructure. They also have to be able to adapt and to react to changes in their environment. In this paper, new methods for AUV infrastructure-independent navigation and self-localization, as well as for an adaptive AUV control architecture are presented. These methods were developed at the DFKI within the framework of several nationally funded research projects. They were implemented on experimental AUVs and showed promising results in preliminary lab and field tests.