In the last few years the development of the Autonomous Underwater Vehicles (AUVs) has had a greater importance because of their fundamental applications in the military field, in underwater explorations (e.g. archaeological field) and in the industrial field (e.g. for Oil&Gas). More specifically, in the evolution of the AUVs the following topics hold an important position, which are still characterized by many open problems: the dynamic performances and the control of the single vehicle, the mobile tele-manipulation of a single vehicle and the cooperation among vehicles (whether including the manipulation operations or not) [1] [2] [3] [5]. In this work the authors describe the multibody modelling and the control architecture of an AUV specifically thought for the mobile underwater manipulation, usually called I-AUV (AUV for Intervention). The performances of such an AUV will have to meet strict planning and control specifications, both as regards the vehicle itself and as for the manipulation phase.

Modelling and Control of an Autonomous Underwater Vehicle for Mobile Manipulation

COSTANZI, RICCARDO;
2013-01-01

Abstract

In the last few years the development of the Autonomous Underwater Vehicles (AUVs) has had a greater importance because of their fundamental applications in the military field, in underwater explorations (e.g. archaeological field) and in the industrial field (e.g. for Oil&Gas). More specifically, in the evolution of the AUVs the following topics hold an important position, which are still characterized by many open problems: the dynamic performances and the control of the single vehicle, the mobile tele-manipulation of a single vehicle and the cooperation among vehicles (whether including the manipulation operations or not) [1] [2] [3] [5]. In this work the authors describe the multibody modelling and the control architecture of an AUV specifically thought for the mobile underwater manipulation, usually called I-AUV (AUV for Intervention). The performances of such an AUV will have to meet strict planning and control specifications, both as regards the vehicle itself and as for the manipulation phase.
2013
978-953773822-8
File in questo prodotto:
File Dimensione Formato  
Modelling and Control of an Autonomous Underwater Vehicle for.pdf

solo utenti autorizzati

Descrizione: Articolo principale
Tipologia: Versione finale editoriale
Licenza: NON PUBBLICO - Accesso privato/ristretto
Dimensione 907.83 kB
Formato Adobe PDF
907.83 kB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11568/786745
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 7
  • ???jsp.display-item.citation.isi??? ND
social impact