Title :
Hydrodynamic modeling and motion limits of AUV MARES
Author :
Ferreira, Bruno ; Pinto, Miguel ; Matos, Anibal ; Cruz, Nuno
Author_Institution :
DEEC, FEUP, Porto, Portugal
Abstract :
This papers addresses the dynamic characterization of the autonomous underwater vehicle MARES. The paper presents the main dynamic properties of this underwater robotic platform as well as the procedures employed to obtain the parameters that define the vehicle model. Furthermore, the paper also presents a detailed characterization of the elementary motions that this vehicle is able to perform.
Keywords :
hydrodynamics; mobile robots; motion control; remotely operated vehicles; underwater vehicles; AUV MARES; autonomous underwater vehicle; dynamic characterization; hydrodynamic modeling; motion limit; underwater robotic platform; Batteries; Hydrodynamics; Marine technology; Monitoring; Propulsion; Remotely operated vehicles; Robots; Shape control; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Industrial Electronics, 2009. IECON '09. 35th Annual Conference of IEEE
Conference_Location :
Porto
Print_ISBN :
978-1-4244-4648-3
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2009.5415198
