Full Holonomic Control of the Omni-directional AUV SMART-E

Konferenz: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
02.06.2014 - 03.06.2014 in München, Germany

Tagungsband: ISR / Robotik 2014

Seiten: 6Sprache: EnglischTyp: PDF

Persönliche VDE-Mitglieder erhalten auf diesen Artikel 10% Rabatt

Ehlers, Kristian; Meyer, Benjamin; Maehle, Erik (Institute of Computer Engineering, University of Luebeck, Germany)

To fulfill different underwater tasks in hard-to-reach areas, high maneuverable and agile Autonomous Underwater Vehicles (AUV) are needed. SMART-E is an omni-directional AUV with the minimal configuration of three pivot-able thrusters which is able to control all six degrees of freedom. This paper describes SMART-E and its full holonomic control realizing a smooth omni-directional underwater movement.