DocumentCode
3509236
Title
Hydrodynamic modeling and motion limits of AUV MARES
Author
Ferreira, Bruno ; Pinto, Miguel ; Matos, Anibal ; Cruz, Nuno
Author_Institution
DEEC, FEUP, Porto, Portugal
fYear
2009
fDate
3-5 Nov. 2009
Firstpage
2241
Lastpage
2246
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, 2009. IECON '09. 35th Annual Conference of IEEE
Conference_Location
Porto
ISSN
1553-572X
Print_ISBN
978-1-4244-4648-3
Electronic_ISBN
1553-572X
Type
conf
DOI
10.1109/IECON.2009.5415198
Filename
5415198
Link To Document