Experimental analysis and implementation of redundant thrusters for underwater robots

This paper identifies the key issues in the empirical implementation of redundant marine thrusters for two different autonomous underwater vehicles of different designs, so as to maximize the effectiveness for fine motion control. A crucial factor in the development of a precision control scheme is...

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Bibliographic Details
Published in2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) Vol. 2; pp. 1109 - 1114 vol.2
Main Authors Hanai, A., Rosa, K., Choi, S.K., Yuh, J.
Format Conference Proceeding
LanguageEnglish
Published Piscataway NJ IEEE 2004
Subjects
Applied sciences
Automotive engineering
Computer science; control theory; systems
Control theory. Systems
Exact sciences and technology
Geometry
Motion control
Remotely operated vehicles
Robotics
Robots
Steady-state
Systems engineering and theory
Underwater vehicles
Vectors
Vehicle dynamics
Energy source
Autonomous system
Marine propulsion
Moving robot
Redundancy
Amplifier
Motion control
Steady state
Submarine vehicle
Robotics
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Summary:This paper identifies the key issues in the empirical implementation of redundant marine thrusters for two different autonomous underwater vehicles of different designs, so as to maximize the effectiveness for fine motion control. A crucial factor in the development of a precision control scheme is the thorough understanding of the system geometry. Other critical elements include the contribution of the thruster amplifier gains to the steady state response of the thrusters, and the influence of the power source on system performance. These findings are proven through experimental analysis and verification.
ISBN:9780780384637
0780384636
DOI:10.1109/IROS.2004.1389545