Desing and realization of a very low cost prototypal autonomous vehicle for coastal oceanographic missions

The design and main features of a very low cost underwater vehicle for coastal oceanographic applications are illustrated. The key to a low cost but still effective design, in this case, is the limitation of the vehicle features and capabilities solely to those strictly required for the fullfillment...

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Published inIFAC Proceedings Volumes Vol. 37; no. 10; pp. 471 - 476
Main Authors Alvarez, A., Caffaz, A., Caiti, A., Casalino, G., Clerici, E., Giorgi, F., Gualdesi, L., Turetta, A.
Format Journal Article
LanguageEnglish
Published 01.07.2004
Subjects
Autonomous
control
vehicle
Autonomous
control
vehicle
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Summary:The design and main features of a very low cost underwater vehicle for coastal oceanographic applications are illustrated. The key to a low cost but still effective design, in this case, is the limitation of the vehicle features and capabilities solely to those strictly required for the fullfillment of the mission. In terms of navigation and control capabilities, in particular, this allows for the use of GPS-driven algorithms when transiting from one sampling location to another, and the use of a robust closed-loop steering law automatically generating smooth transit trajectories.
ISSN:1474-6670
DOI:10.1016/S1474-6670(17)31776-7