Title :
MARIUS: an autonomous underwater vehicle for coastal oceanography
Author :
Pascoal, Antonio ; Oliveira, Paulo ; Silvestre, Carlos ; Bjerrum, Anders ; Ishoy, Anders ; Pignon, Jean-Paul ; Ayela, Gerard ; Petzelt, Christian
Author_Institution :
Dept. of Electr. Eng., Inst. Superior Tecnico, Lisbon, Portugal
fDate :
12/1/1997 12:00:00 AM
Abstract :
An autonomous underwater vehicle (AW), named MARIUS, has been developed under the MAST Programme of the Commission of the European Communities. The primary envisioned missions of the prototype AW are environmental surveying and oceanographic data acquisition in coastal waters. The authors describe the design and implementation of the AW systems for vehicle and mission control, and report the results of the sea trials conducted with the vehicle in Sines, Portugal
Keywords :
data acquisition; marine systems; mobile robots; navigation; oceanographic equipment; path planning; sonar; MARIUS; MAST Project; Portugal; autonomous underwater vehicle; coastal oceanography; data acquisition; environmental surveying; mission control; mission management systems; sonar navigation; Communication system control; Control systems; Marine vehicles; Mobile robots; Navigation; Prototypes; Remotely operated vehicles; Sea measurements; System testing; Underwater vehicles;
Journal_Title :
Robotics & Automation Magazine, IEEE
