Abdou Yahouza M. Sani, Tao He, Wenlong Zhao, Tingting Yao
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引用次数: 3
Abstract
Underwater Robots play an important role in a number of shallow and deep-water missions. In recent years, Underwater Robots system design has been an active field of engineering researches. This paper proposes new system design for underwater vehicles combining the best features of both ROV (remotely operated vehicle) and AUV (autonomous underwater vehicle) technologies. The system based on ROS platform and Ardupilot software is equipped with two types of navigation system setup (autonomous navigation and teleoperation navigation) capable of realizing precise motion control, navigating while performing SLAM (Simultaneous Localization and Mapping) path-planning and obstacles avoidance.
水下机器人在许多浅水和深水任务中发挥着重要作用。近年来，水下机器人系统设计一直是一个活跃的工程研究领域。本文提出了一种新的水下航行器系统设计方案，结合了ROV(遥控航行器)和AUV(自主水下航行器)技术的优点。该系统基于ROS平台和Ardupilot软件，配备自主导航和遥操作导航两种导航系统设置，能够实现精确的运动控制，在导航的同时进行SLAM (Simultaneous Localization and Mapping)路径规划和避障。
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