• DocumentCode
    3709388
  • Title

    HippoCampus: A micro underwater vehicle for swarm applications

  • Author

    Axel Hackbarth;Edwin Kreuzer;Eugen Solowjow

  • Author_Institution
    Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Germany
  • fYear
    2015
  • fDate
    9/1/2015 12:00:00 AM
  • Firstpage
    2258
  • Lastpage
    2263
  • Abstract
    The HippoCampus platform is a low-cost micro autonomous underwater vehicle for swarm robotics research. This paper presents the hardware and software design, the communication link, instrumentation, and control system. The quadrotor design enables the vehicle to perform agile maneuvers in a very confined test tank. Vehicle navigation is based on the on-board sensor suite. Autonomous path following is presented and experimental results are evaluated.
  • Keywords
    "Vehicles","Hippocampus","Robot sensing systems","Underwater vehicles","Vehicle dynamics","Estimation"
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
  • Type

    conf

  • DOI
    10.1109/IROS.2015.7353680
  • Filename
    7353680
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3709388