Re-construction of an AUV as a platform for oceanographic research and a test bed for implementation of control systems based on neurobiological networks

Author

Busquets, Javier ; Guerrero, Antonio ; Gilabert, Javier ; García-Córdova, Francisco

Author_Institution

Underwater Vehicles Lab., Tech. Univ. of Cartagena (UPCT), Cartagena, Spain

fYear

2010

fDate

1-3 Sept. 2010

Firstpage

1

Lastpage

8

Abstract

This work considers the re-design of an autonomous underwater vehicle (AUV) in which an innovative, neurobiological inspired sensorization control system is being implemented. Hardware architecture and sensorization control software are being developed to allow autonomous navigation procedures for submarine vehicles. After the refurbishment of the vehicle and the update of its control system, the ROV is able to load CTD sensors, chlorophyll, turbidity, optical dissolved oxygen (YSI V6600 sonde) and nitrate analyzer (SUNA) together with ADCP, side scan sonar and video camera, in a flexible configuration to provide a water quality monitoring platform with mapping capabilitiesi.

Keywords

monitoring; navigation; oceanographic techniques; remotely operated vehicles; sonar; underwater vehicles; AUV; autonomous navigation; autonomous underwater vehicle; control systems; hardware architecture; neurobiological inspired sensorization control system; neurobiological networks; oceanographic research; sensorization control software; side scan sonar; submarine vehicles; video camera; water quality monitoring platform; Angular velocity; Control systems; Mobile robots; Robot sensing systems; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicles (AUV), 2010 IEEE/OES

Conference_Location

Monterey, CA

ISSN

1522-3167

Print_ISBN

978-1-61284-980-5

Type

conf

DOI

10.1109/AUV.2010.5779678

Filename

5779678