Title :
HippoCampus: A micro underwater vehicle for swarm applications
Author :
Axel Hackbarth;Edwin Kreuzer;Eugen Solowjow
Author_Institution :
Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Germany
fDate :
9/1/2015 12:00:00 AM
Abstract :
The HippoCampus platform is a low-cost micro autonomous underwater vehicle for swarm robotics research. This paper presents the hardware and software design, the communication link, instrumentation, and control system. The quadrotor design enables the vehicle to perform agile maneuvers in a very confined test tank. Vehicle navigation is based on the on-board sensor suite. Autonomous path following is presented and experimental results are evaluated.
Keywords :
"Vehicles","Hippocampus","Robot sensing systems","Underwater vehicles","Vehicle dynamics","Estimation"
Conference_Titel :
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
DOI :
10.1109/IROS.2015.7353680
