Observatorio de I+D+i UPM

Descripción
This paper presents the design, implementation and validation of a novel spherical Autonomous Underwater Vehicle (AUV) prototype, developed for inspection and exploration of flooded mine tunnel networks. The unique mechanical, electrical and hardware design is presented, as well as the development of a theoretical 6 degree-of-freedom (DOF) highfidelity dynamic model of the system. A series of underwater experiments were carried out in a controlled environment to test the standard motion patterns of the AUV with a Proportional- Integral-Derivative (PID) controller. The performance of the PID controller will be used as the baseline for comparison of more advanced control schemes. The experimental results demonstrated that the spherical AUV was able to realize the tested underwater motions with notable performance.
Internacional	Si
Nombre congreso	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Tipo de participación	960
Lugar del congreso	Madrid
Revisores	Si
ISBN o ISSN	9781538680957
DOI
Fecha inicio congreso	01/10/2018
Fecha fin congreso	05/10/2018
Desde la página	1513
Hasta la página	1519
Título de las actas	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Esta actividad pertenece a memorias de investigación

• Autor: Ramon Suarez (UPM)
• Autor: E. Andres Parra (UPM)
• Autor: Zorana Milosevic (UPM)
• Autor: Sergio Dominguez Cabrerizo (UPM)
• Autor: Claudio Rossi (UPM)

• Creador: Grupo de Investigación: Robótica y Cibernética
• Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
• Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial