Guidance and control of a biomimetic-autonomous underwater vehicle

2011 ◽  
pp. 255-276 ◽  
Author(s):  
J. Guo
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Guidance And Control ◽  
And Control

scholarly journals Guidance and Control of Autonomous Underwater Vehicle for Inspection of Underwater Cables

1993 ◽  
Vol 1993 (174) ◽  
pp. 309-317 ◽  
Author(s):  
Naomi Kato ◽  
Yoshihiko Ito ◽  
Jyunichi Kojima ◽  
Kenichi Asakawa ◽  
Yuichi Shirasaki
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Guidance And Control ◽  
And Control ◽  
Underwater Cables

scholarly journals Guidance and Control of Autonomous Underwater Vehicle for Inspection of Underwater Cables

1994 ◽  
Vol 1994 (175) ◽  
pp. 219-226
Author(s):  
Naomi Kato ◽  
Yoshihiko Ito ◽  
Junichi Kojima ◽  
Kenichi Asakawa ◽  
Yuichi Shirasaki
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Guidance And Control ◽  
And Control ◽  
Underwater Cables

scholarly journals An Overview of Autonomous Underwater Vehicle Research and Testbed at PeRL

2009 ◽  
Vol 43 (2) ◽  
pp. 33-47 ◽  
Author(s):  
Hunter C. Brown ◽  
Ayoung Kim ◽  
Ryan M. Eustice
Keyword(s):  
Real Time ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
University Of Michigan ◽  
Major Research ◽  
Research Areas ◽  
Localization And Mapping ◽  
Navigation And Control ◽  
The University ◽  
And Control

AbstractThis article provides a general overview of the autonomous underwater vehicle (AUV) research thrusts being pursued within the Perceptual Robotics Laboratory (PeRL) at the University of Michigan. Founded in 2007, PeRL's research centers on improving AUV autonomy via algorithmic advancements in environmentally based perceptual feedback for real-time mapping, navigation, and control. Our three major research areas are (1) real-time visual simultaneous localization and mapping (SLAM), (2) cooperative multi-vehicle navigation, and (3) perception-driven control. Pursuant to these research objectives, PeRL has developed a new multi-AUV SLAM testbed based upon a modified Ocean-Server Iver2 AUV platform. PeRL upgraded the vehicles with additional navigation and perceptual sensors for underwater SLAM research. In this article, we detail our testbed development, provide an overview of our major research thrusts, and put into context how our modified AUV testbed enables experimental real-world validation of these algorithms.

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