Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle
Grupo de investigación
Grupo de automatización y control inteligenteÁrea de conocimiento
Ingeniería de Sistemas y AutomáticaPatrocinadores
Supported 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.Fecha de publicación
2013-01Editorial
International Journal of Advanced Robotic SystemsCita bibliográfica
F. García Córdova, A. Guerrero González, "Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle", International Journal of Advanced Robotic Systems, 2013, Vol. 10Revisión por pares
SíPalabras clave
Vehículos submarinosUnderwater Vehicles
Redes neuronales
Neural Network
Energía solar
Solar energy
Resumen
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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