Development and testing of an autonomous underwater vehicle using industrial xPC-Target platform

Author

Chin, C.S. ; Lau, M.W.S. ; Tan, Y.J. ; Chee, K.F. ; Wong, Y.C.

Author_Institution

Sch. of Eng., Temasek Polytech., Singapore, Singapore

fYear

2009

fDate

14-17 July 2009

Firstpage

1076

Lastpage

1081

Abstract

The aim of the paper is to give an overview of an autonomous underwater vehicle (AUV) developed by Temasek Polytechnic for pipeline tracking. Besides mechanical design, it is demonstrated that measurement and actuation task require during hardware-in-the-loop (HIL) testing can be implemented on an industrial PC using the xPCTargettrade by Matlab/SIMULINKtrade with minimum custom hardware. The resulting platform is flexible and scalable, enabling an engineer to perform several tasks within minimum time. Experimental results are presented to demonstrate the effectiveness of the proposed method.

Keywords

automatic test equipment; mathematics computing; mobile robots; pipelines; remotely operated vehicles; underwater vehicles; HIL testing; Matlab-SIMULINK; Temasek Polytechnic; autonomous underwater vehicle; hardware-in-the-loop testing; industrial xPC-Target platform; pipeline tracking; Aerospace engineering; Character generation; Inspection; Motion control; Petroleum; Pipelines; Propellers; Sea measurements; Testing; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-2852-6

Type

conf

DOI

10.1109/AIM.2009.5229729

Filename

5229729