AUVx - A Novel Miniaturized Autonomous Underwater Vehicle
Editors: Hendrik Hanff, Philipp Kloss, Bilal Wehbe, Peter Kampmann, Sven Kroffke, Aljoscha Sander, Miguel Bande Firvida, Maria von Einem, Jan Frederik Bode, Frank Kirchner
(OCEANS-17), 19.6.-22.6.2017, Aberdeen, o.A., Jun/2017. IEEE.
Within the 3 year project DAEDALUS the battery powered underwater vehicle AUVx was developed at DFKI. This autonomous underwater vehicle (AUV) is a novel, miniaturized exploration and research vehicle. The AUVx can be operated both autonomous or remotely as a hybrid ROV with a near field optical communication modem or a copper wire cable. What makes this paper unique is that it describes the development of a system which has a high degree of miniaturization and the feature richness of much bigger systems: A complex
heterogeneous processing architecture, sensor fusion of inertial data, a mathematical model of the robot and visual data which improves the AUVs pose and orientation estimation, a unique
propulsion concept and the possibility to hover statically in the water column. Results of the design and build process with a strong focus on the CFD analysis and the evaluated model are
presented. The system was successfully tested in water basins at DFKI.
underwater robotics, system design, miniature robotics, system, parameter identification, control of underwater robots, robot development