Full Holonomic Control of the Omni-directional AUV SMART-E
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 6Language: englishTyp: PDF
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Authors:
Ehlers, Kristian; Meyer, Benjamin; Maehle, Erik (Institute of Computer Engineering, University of Luebeck, Germany)
Abstract:
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.