Variable-configuration UUVs for marine science applications

Author

Caccia, M. ; Bono, R. ; Bruzzone, G. ; Veruggio, Gianmarco

Author_Institution

Istituto Automazione Navale, CNR, Genova, Italy

Volume

6

Issue

2

fYear

1999

fDate

6/1/1999 12:00:00 AM

Firstpage

22

Lastpage

32

Abstract

In this article, after a brief overview of trends in underwater unmanned vehicle (UUV) design and applications, results in developing an automatic guidance and control system for Romeo are presented. Attention is focused on the design, development, and testing in the operating conditions of a bottom and ice-canopy following system and on the development of methodologies for the at-field identification of the vehicle dynamics in order to guarantee high motion-control performance, even in the presence of variations in the vehicle configuration. In particular, the system performance in the proximity of the coast, where there is only a very shallow column of free water between the ice-pack and the sea-bed, is discussed

Keywords

computerised control; computerised navigation; dynamics; identification; motion control; underwater vehicles; Romeo; automatic guidance; control system; dynamics; identification; marine science; motion-control; underwater unmanned vehicle; variable-configuration; Costs; Geology; Hydrodynamics; Marine vehicles; Mobile robots; Navigation; Oceanographic techniques; Oceans; Remotely operated vehicles; Underwater vehicles;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/100.774925

Filename

774925