Title :
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
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;
Conference_Titel :
Autonomous Underwater Vehicles (AUV), 2010 IEEE/OES
Conference_Location :
Monterey, CA
Print_ISBN :
978-1-61284-980-5
DOI :
10.1109/AUV.2010.5779678
