The control system of a small virtual AUV

Author

Veruggio, Gianmarco ; Bono, Riccardo ; Caccia, Massimo

Author_Institution

Istituto Automazione Navale, CNR, Genova, Italy

fYear

1994

fDate

19-20 Jul 1994

Firstpage

69

Lastpage

74

Abstract

This paper presents the activities in the field of underwater robotics being carried out at the Naval Automation Institute (IAN) of the Italian National Council. The ultimate goal is the development of an autonomous underwater vehicle for research purposes. To reduce the economic and logistic resources needed to develop and test a real AUV at IAN the concept of virtual AUV was introduced. This consists of a ROV capable of simulating the behaviour of an autonomous vehicle. The result is a MASTER/SLAVE type of architecture in which, at least initially, the SLAVE on board the vehicle handles communications, acquires data and performs elementary control operations, whereas the MASTER (the control console on land) manages the operator interface, analysis of sensorial data and mission control

Keywords

marine systems; mobile robots; sensors; telerobotics; two-term control; Italian National Council; MASTER/SLAVE; Naval Automation Institute; ROV; autonomous underwater vehicle; control system; small virtual AUV; underwater robotics; Automatic control; Communication system control; Control systems; Councils; Logistics; Master-slave; Remotely operated vehicles; Robotics and automation; Testing; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicle Technology, 1994. AUV '94., Proceedings of the 1994 Symposium on

Conference_Location

Cambridge, MA

Print_ISBN

0-7803-1808-0

Type

conf

DOI

10.1109/AUV.1994.518608

Filename

518608