HANSE—A Low-Cost Autonomous Underwater Vehicle

Forouher, Dariush; Hartmann, Jan; Klüssendorff, Jan Helge; Maehle, Erik; Meyer, Benjamin; Osterloh, Christoph; Tosik, Thomas

doi:10.1007/978-3-642-32217-4_16

Cited by 4 publications

(1 citation statement)

References 5 publications

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“…The energy consumption is only about 4 W and the sonar is connected to a serial port of the main Gumstix controller. Together with the sensory output from the x-IMU, the system is able to localize itself using home made localization and navigation techniques presented in [8].…”

Section: Scanning Sonarmentioning

confidence: 99%

Smart-E An Autonomous Omnidirectional Underwater Robot

Meyer

Ehlers

Osterloh

et al. 2013

Paladyn, Journal of Behavioral Robotics

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The survey of waterbodies or underwater installations is a challenging task. To reduce the danger for divers, Autonomous Underwater Vehicles (AUVs) can be deployed. These requires a high manoeuvrability and agility in order to provide access in hard-to-reach areas. Smart-E is an omnidirectional AUV designed and developed at the Institute of Computer Engineering of the University of Luebeck. The drive is realized by the minimal configuration of three thrusters that are arranged at 120• to each other. To achieve omnidirectional movement in the 3D space, each motor pivots through 180• around its radial axis with the aid of a servo motor. This leads to a manoeuvrability of six degrees of freedom (DOF). Smart-E is equipped with various sensors like a pressure and temperature sensor, a 360• scanning sonar, an IMU-AHRS system and a tilt camera unit at the bottom. Besides the autonomous behaviors, the main challenge is to control all six DOF of the AUV to achieve a smooth and controllable omnidirectional underwater movement even in rough environments.

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Section: Scanning Sonarmentioning

confidence: 99%