Authors:
Hendrik Hanff
1
;
Korbinian Schmid
2
;
Philipp Kloss
1
and
Sven Kroffke
1
Affiliations:
1
DFKI GmbH, Germany
;
2
RoboCeption GmbH, Germany
Keyword(s):
Underwater Robotics, System Design, Miniature Robotics, System Parameter Identification, Control of Underwater Robots, Robot Development.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Space and Underwater Robotics
Abstract:
Small sized robotic systems have operational advantages compared to large systems. They can also operate in fields of application where bigger systems would fail. This paper describes the specifications and the design of the autonomous underwater vehicle µAUV2. Technical details of the system regarding sensor setup, motorization and computing power are given. Furthermore, we present details about the system identification
process and the implemented controller structure. Possible scopes of the µAUV2 are underwater exploration, inspection tasks, development and evaluation of algorithms, education and competitions.