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.
Abstract
:
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.
Keywords
:
underwater robotics, system design, miniature robotics, system, parameter identification, control of underwater robots, robot development
Links:
https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8084946