INVESTIGADORES
ACOSTA Gerardo Gabriel
congresos y reuniones científicas
Título:
Experimental results on smooth path tracking with application to pipe surveying on inexpensive AUV
Autor/es:
CALVO, O. A.; ROZENFELD, A. F.; SOUZA, A.; VALENCIAGA, F.; PULESTON, P. F.; ACOSTA, GERARDO G.
Lugar:
Niza, Francia
Reunión:
Conferencia; IEEE/RSJ Int. Conf. on Intelligent Robots and Systems; 2008
Institución organizadora:
IEEE
Resumen:
This paper details the development aspects of a low cost AUV autonomous, designed for autonomous pipline inspections, describing: hardware, software and control aspects. The article details three of the mains stages of the project, that have been already achieved: (a) the simulation results of Lyapunov based path planning of torpedo shaped AUV on pipe searching; (b) the construction details of dual torpedo AUV for pipeline inspection and (c) the experimental results when using the prototype in path following using the line of sight (LOS) algorithm.
