HippoCampusX – A Hydrobatic Open-source Micro AUV for Confined Environments
| Autor: | Robert Seifried, Daniel A Duecker, Edwin Kreuzer, Nathalie Bauschmann, Tim Hansen |
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| Rok vydání: | 2020 |
| Předmět: |
Hardware architecture
business.industry Computer science 010401 analytical chemistry 020206 networking & telecommunications 02 engineering and technology 01 natural sciences 0104 chemical sciences Attitude control Open source 0202 electrical engineering electronic engineering information engineering Systems engineering Robot Underwater robot Underwater business Modular software Agile software development |
| Zdroj: | 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043). |
| Popis: | Monitoring missions in confined underwater environments such as nuclear storage ponds or industry tanks call for highly maneuverable fully autonomous micro underwater robots. In this work, we target this challenging scenario with the new low-cost open-source HippoCampusX platform. We present a modular software and hardware architecture which is easily adaptable to mission specific requirements. Our system is part of the PX4-environment [1] and constitutes PX4’s first underwater extension including a SITL simulation. We conduct a series of experiments to demonstrate HippoCampus’ agile maneuvering capabilities and validate the derived dynamic model. |
| Databáze: | OpenAIRE |
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