DocumentCode :
1647558
Title :
Design, simulation and experimental results of Taipan 300, a new Autonomous Underwater Vehicle prototype
Author :
Creuze, Vincent ; Parodi, Olivier ; Xiang, Xianbo
Author_Institution :
LIRMM Lab. d´´Inf. de Robot., et de Microelectron. de Montpellier, Univ. Montpellier 2, Montpellier, France
fYear :
2009
Firstpage :
1
Lastpage :
6
Abstract :
In this paper, we present a new small autonomous underwater vehicle (AUV) called Taipan 300. First, we detail its technical features. Then, we explain how the particular hardware design of this vehicle makes its recovery easier in case of software or hardware failure. In fact this prototype offers enhanced safety measures in order to detect computer failure and to facilitate vehicle localization after it has resurfaced. In a third part, we describe the sliding control used. The last part consists in the presentation of the results obtained during experiments.
Keywords :
mobile robots; remotely operated vehicles; underwater vehicles; variable structure systems; AUV; Taipan 300; autonomous underwater vehicle; sliding control; vehicle localization; Acoustic measurements; Acoustic signal detection; Acoustic transducers; Hardware; Prototypes; Remotely operated vehicles; Software prototyping; Underwater vehicles; Vehicle safety; Virtual prototyping;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
OCEANS 2009 - EUROPE
Conference_Location :
Bremen
Print_ISBN :
978-1-4244-2522-8
Electronic_ISBN :
978-1-4244-2523-5
Type :
conf
DOI :
10.1109/OCEANSE.2009.5278200
Filename :
5278200
Link To Document :
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