Development of the Omni Directional Intelligent Navigator

Author

Choi, S.K. ; Yuh, J. ; Takashige, G.Y.

Author_Institution

Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA

Volume

2

Issue

1

fYear

1995

fDate

3/1/1995 12:00:00 AM

Firstpage

44

Lastpage

53

Abstract

The Autonomous Systems Laboratory is in the midst of developing an advanced underwater robotic technology test platform. The platform consists of the Omni-Directional Intelligent Navigator (ODIN) and the Integrated Graphic Workstation (IGW). ODIN is a six degree-of-freedom (dof) underwater vehicle with dual operational modes (autonomous and tethered) and a single dof mechanical manipulator. IGW is a real-time, 3-dimensional graphic monitoring, testing, and evaluation workstation. This paper presents ODIN´s mechanical and electrical specifications; its vehicle dynamics and depth control system; its recent simulation and experimental results; and IGW´s specifications

Keywords

computerised navigation; marine systems; mobile robots; path planning; Autonomous Systems Laboratory; Integrated Graphic Workstation; Omni Directional Intelligent Navigator; advanced underwater robotic technology test platform; depth control system; single DOF mechanical manipulator; six degree-of-freedom underwater vehicle; vehicle dynamics; Graphics; Intelligent robots; Laboratories; Manipulator dynamics; Monitoring; Navigation; System testing; Underwater vehicles; Vehicle dynamics; Workstations;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/100.388292

Filename

388292