Memorias de investigación
Communications at congresses:
Design, Modeling and Control of a Spherical Autonomous Underwater Vehicle for Mine Exploration
Year:2018

Research Areas
  • Electric engineers, electronic and automatic (eil)

Information
Abstract
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.
International
Si
Congress
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
960
Place
Madrid
Reviewers
Si
ISBN/ISSN
978-1-5386-8094-0
10.1109/IROS.2018.8594016
Start Date
01/10/2018
End Date
05/10/2018
From page
1513
To page
1513
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Participants

Research Group, Departaments and Institutes related
  • Creador: 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