Experimental results on smooth path tracking with application to pipe surveying on inexpensive AUV

Author

Calvo, O. ; Rozenfeld, A. ; Souza, A. ; Valenciaga, F. ; Puleston, P.F. ; Acosta, G.

Author_Institution

Dept. of Phys., Univ. of the Balearic Islands, Palma de Mallorca

fYear

2008

fDate

22-26 Sept. 2008

Firstpage

3647

Lastpage

3653

Abstract

This paper details the development aspects of a low cost AUV autonomous, designed for autonomous pipline inspections, describing: hardware, software and control aspects. The article details three of the mains stages of the project, that have been already achieved: (a) the simulation results of Lyapunov based path planning of torpedo shaped AUV on pipe searching; (b) the construction details of dual torpedo AUV for pipeline inspection and (c) the experimental results when using the prototype in path following using the line of sight (LOS) algorithm.

Keywords

Lyapunov methods; industrial robots; inspection; mobile robots; path planning; pipes; remotely operated vehicles; Lyapunov based path planning; autonomous pipline inspections; line of sight algorithm; path following; pipe searching; pipe surveying; smooth path tracking; torpedo shaped AUV; Equations; Inspection; Mathematical model; Navigation; Pipelines; Trajectory; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Conference_Location

Nice

Print_ISBN

978-1-4244-2057-5

Type

conf

DOI

10.1109/IROS.2008.4650966

Filename

4650966