Title :
The controller of the REDERMOR II
Author_Institution :
Underwater Robotics Dept., Groupe d´´Etudes Sous-Marines de l´´Atlantique (GESMA), Brest Naval, France
Abstract :
This article deals with the controller of the REDERMOR II autonomous underwater vehicle (AUV). This controller is a module developed in a project whose the objective is to use sonars for the improvement of the navigation, the guidance and the control of an AUV. After a short presentation of the project and the vehicle, the controller is presented and the first results in simulation are analyzed
Keywords :
computerised navigation; sonar detection; telerobotics; underwater vehicles; AUV; REDERMOR II; autonomous underwater vehicle; controller; guidance; navigation; sonars; Actuators; Analytical models; Image processing; Inertial navigation; Remotely operated vehicles; Robots; Sonar detection; Sonar navigation; Torque control; Underwater vehicles;
Conference_Titel :
OCEANS, 2001. MTS/IEEE Conference and Exhibition
Conference_Location :
Honolulu, HI
Print_ISBN :
0-933957-28-9
DOI :
10.1109/OCEANS.2001.968260
