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dc.contributor.authorGarcía Córdova, Francisco 
dc.contributor.authorGuerrero González, Antonio 
dc.date.accessioned2015-11-05T12:50:13Z
dc.date.available2015-11-05T12:50:13Z
dc.date.issued2013-01
dc.identifier.citationF. García Córdova, A. Guerrero González, "Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle", International Journal of Advanced Robotic Systems, 2013, Vol. 10es_ES
dc.identifier.issn1729-8814
dc.description.abstractIn 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‐  controller. The autonomous underwater vehicle is capable of operating during long periods of observation and monitoring. This autonomous vehicle is a good tool for observing large areas of sea, since it operates for long periods of time due to the contribution of renewable energy. It correlates all sensor data for time and geodetic position. This vehicle has been used for monitoring the Mar Menor lagoon.es_ES
dc.description.sponsorshipSupported 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.es_ES
dc.formatapplication/pdfes_ES
dc.language.isoenges_ES
dc.publisherInternational Journal of Advanced Robotic Systemses_ES
dc.rightsAtribución-NoComercial-SinDerivadas 3.0 España*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/*
dc.titleIntelligent Navigation for a Solar Powered Unmanned Underwater Vehiclees_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.subjectVehículos submarinoses_ES
dc.subjectUnderwater Vehicleses_ES
dc.subjectRedes neuronaleses_ES
dc.subjectNeural Networkes_ES
dc.subjectEnergía solares_ES
dc.subjectSolar energyes_ES
dc.subject.otherIngeniería de Sistemas y Automáticaes_ES
dc.identifier.urihttp://hdl.handle.net/10317/5113
dc.peerreviewes_ES
dc.contributor.investgroupGrupo de automatización y control inteligentees_ES
dc.contributor.coordinadorTornero Montserrat, Josep
dc.identifier.doi10.5772/56029
dc.rights.accessRightsinfo:eu-repo/semantics/openAccesses_ES
dc.type.versioninfo:eu-repo/semantics/publishedVersiones_ES
dc.relation.projectIDDPI2009-14744-C03-02es_ES


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Except where otherwise noted, this item's license is described as Atribución-NoComercial-SinDerivadas 3.0 España