INVESTIGADORES
PULESTON Pablo Federico
congresos y reuniones científicas
Título:
Experimental Results on Smooth Path Tracking with Application to Pipe Surveying on Inexpensive AUV
Autor/es:
O.CALVO; A.ROZENFELD; A.SOUSA; F.VALENCIAGA; P.F.PULESTON; G.G.ACOSTA
Lugar:
Nice, France
Reunión:
Congreso; 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008); 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 contruction 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.
Pipeline searching involves a series of zig zag explorations
of the area where the pipe is presumably located. The path
following method is based on a combination of Lyapunov
technique and PI controller acting over thruster and rudder on
a torpedo shaped AUV, designed originally for Oceanographic
purposes.
The article also shows the hardware and software details
of a new low cost prototype designed specifically for pipeline
inspections. The new vehicle called AUVI (Autonomous Underwater
Vehicle for Inspections) [8], is a dual torpedo with a
different thruster configuration than the Cormoran, operating
in a differential thruster mode.
Finally, the article shows experimental results of the new
vehicle, where a LOS is used to keep the vehicle describing
an almost circular path. When the design of the vehicle is
completed and a good model of the new vehicle is obtained, the
Lyapunov technique will be tested at full depth as it was done
for the Cormoran.