Experimental analysis and implementation of redundant thrusters for underwater robots

• Published in: 2004 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
• Language: English
• 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

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...