μAUV2 - Development of a minuscule autonomous underwater vehicle
Hendrik Hanff, Korbinian Schmid, Philipp Kloss, Sven Kroffke
In International Conference on Informatics in Control, Automation and Robotics, (ICINCO-2016), 29.7.-31.7.2016, Lissabon, n.n., Jul/2016.
Abstract
:
Small sized robotic systems have operational advantages compared to large systems. They can also operate
in fields of application where bigger systems would fail. This paper describes the specifications and the
design of the autonomous underwater vehicle μAUV2 . Technical details of the system regarding sensor setup,
motorization and computing power are given. Furthermore, we present details about the system identification
process and the implemented controller structure. Possible scopes of the μAUV2 are underwater exploration,
inspection tasks, development and evaluation of algorithms, education and competitions.
Keywords
:
underwater robotics, system design, miniature robotics, system parameter identification, control of underwater robots, robot development