Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle
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Research GroupGrupo de automatización y control inteligente
Knowledge AreaIngeniería de Sistemas y Automática
SponsorsSupported by the Coastal Monitoring System for the Mar Menor (CMS‐ 463.01.08_CLUSTER) project founded by the Regional Government of Murcia, by the SICUVA project (Control and Navigation System for AUV Oceanographic Monitoring Missions. REF: 15357/PI/10) founded by the Seneca Foundation of Regional Government of Murcia and by the DIVISAMOS project (Design of an Autonomous Underwater Vehicle for Inspections and oceanographic mission‐UPCT: DPI‐ 2009‐14744‐C03‐02) founded by the Spanish Ministry of Science and Innovation from Spain.
PublisherInternational Journal of Advanced Robotic Systems
Bibliographic CitationF. García Córdova, A. Guerrero González, "Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle", International Journal of Advanced Robotic Systems, 2013, Vol. 10
In this paper, an intelligent navigation system for an unmanned underwater vehicle powered by renewable energy and designed for shadow water inspection in missions of a long duration is proposed. The system is composed of an underwater vehicle, which tows a surface vehicle. The surface vehicle is a small boat with photovoltaic panels, a methanol fuel cell and communication equipment, which provides energy and communication to the underwater vehicle. The underwater vehicle has sensors to monitor the underwater environment such as sidescan sonar and a video camera in a flexible configuration and sensors to measure the physical and chemical parameters of water quality on predefined paths for long distances. The underwater vehicle implements a biologically inspired neural architecture for autonomous intelligent navigation. Navigation is carried out by integrating a kinematic adaptive neuro‐controller for trajectory tracking and an obstacle avoidance adaptive neuro‐ contr ...
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