Title :
Design and development of an autonomous underwater vehicle test-bed (USM-AUV I)
Author :
Arshad, Mohd Rizal ; Radzak, Mohamed Yusof
Author_Institution :
Sch. of Electr. & Electron. Eng., Univ. Sci. of Malaysia, Pulau Pinang, Malaysia
Abstract :
In this paper, the development of an underwater robotic vehicle is described. The description includes the mechanical and controller design, and the sensor integration. The vehicle has been designed to have a dimension 1.0 m long, 0.7 m wide and with a mass of 30 kg. The USM-AUV I was designed mainly for testing conventional and advanced control algorithms. The vehicle directional control was performed by two thrusters in the horizontal plane while depth control by two thrusters in the vertical plane. There are several sensors which are used as feedback elements for the vehicle control system of vehicle. The AUV is also equipped with camera for monitoring purposes. This pan-tilt-zoom camera mounted in the upper enclosure, serves to assist in the close up viewing of objects without moving the whole vehicle. For beginning, this research is limited to a depth between 0 - 50 meters.
Keywords :
cameras; control system synthesis; mobile robots; position control; sensors; underwater vehicles; 30 kg; USM-AUV I; autonomous underwater vehicle test-bed; controller design; depth control; mechanical design; pan-tilt-zoom camera; sensor integration; underwater robotic vehicle; vehicle directional control; Algorithm design and analysis; Cameras; Mechanical sensors; Mobile robots; Remotely operated vehicles; Robot sensing systems; Sensor phenomena and characterization; Sensor systems; Testing; Underwater vehicles;
Conference_Titel :
Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th
Print_ISBN :
0-7803-8653-1
DOI :
10.1109/ICARCV.2004.1468833
