The Hybrid Glider/AUV Folaga

The paper describes the current evolution of the class of Fo¿laga underwater vehicles, whose actuation mechanism is a hybrid between oceanographic gliders and standard, self-propelled autonomous underwater vehicles (AUVs). The Fo¿laga vehicles have been designed for coastal oceanography and environm...

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Bibliographic Details
Published inIEEE robotics & automation magazine Vol. 17; no. 1; pp. 31 - 44
Main Authors Caffaz, A., Caiti, A., Casalino, G., Turetta, A.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.03.2010
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuators
Autonomous underwater vehicles
Buoyancy
Center of mass
Costs
Dislocations
Gliders
Marine vehicles
Mobile robots
Navigation
Payloads
Propulsion
Prototypes
Remotely operated vehicles
Sea surface
Underwater vehicles
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Summary:The paper describes the current evolution of the class of Fo¿laga underwater vehicles, whose actuation mechanism is a hybrid between oceanographic gliders and standard, self-propelled autonomous underwater vehicles (AUVs). The Fo¿laga vehicles have been designed for coastal oceanography and environmental sampling; the application-oriented design approach has resulted in light-weight, low-cost, low-maintenance vehicles. A description of the vehicles' design and guidance, navigation and control capabilities is given, together with data from recent experimental trials.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1070-9932
1558-223X
DOI:10.1109/MRA.2010.935791