Title :
Vehicle and Mission Control of the DELFIM Autonomous Surface Craft
Author :
Alves, J. ; Oliveira, P. ; Oliveira, R. ; Pascoal, A. ; Rufino, M. ; Sebastião, L. ; Silvestre, C.
Author_Institution :
Inst. for Syst. & Robot., Lisbon
Abstract :
DELFIM is an autonomous surface craft developed at ISR/IST for automatic marine data acquisition and to serve as an acoustic relay between submerged craft and a support vessel. The paper describes the navigation, guidance, and control systems of the vehicle, together with the mission control system that allows end-users to seamlessly program and run scientific missions at sea. Practical results obtained during sea tests in the Atlantic, near Azores islands, are briefly summarized and discussed.
Keywords :
data acquisition; marine vehicles; mobile robots; Atlantic; Azores islands; DELFIM autonomous surface craft; ISR/IST; acoustic relay; automatic marine data acquisition; mission control; submerged craft; support vessel; vehicle control; Acoustic testing; Automatic control; Control systems; Data acquisition; Mobile robots; Navigation; Relays; Remotely operated vehicles; Sea surface; Underwater acoustics;
Conference_Titel :
Control and Automation, 2006. MED '06. 14th Mediterranean Conference on
Conference_Location :
Ancona
Print_ISBN :
0-9786720-1-1
Electronic_ISBN :
0-9786720-0-3
DOI :
10.1109/MED.2006.328689
