An underwater robotic testbed for multi-vehicle control
Document Type
Conference Proceeding
Publication Date
3-5-2015
Publisher
IEEE
Abstract
The PVC-ROV underwater robot testbed is a low-cost, three vehicle system designed to support research into multi-robot control techniques. Each vehicle is composed of a PVC frame with bilge-pump motors, a central microcontroller, and hobby-class sensing and power components. In addition, each vehicle is tethered to a surface buoy by a 15 meter tether and wirelessly exchanges data with an off-board, Matlab-based control program; an acoustic tracking system simultaneously tracks the position of each vehicle. Use of the testbed has begun with demonstration of two-vehicle cluster space control, a specific control technique developed by researchers in Santa Clara University's Robotic Systems Laboratory. This paper reviews the design of the PVC-ROV testbed and presents initial results in using the testbed to demonstrate the cluster control technique in an underwater environment.
Recommended Citation
Kitts, C., Adamek, T., Vlahos, M., Mahacek, A., Poore, K., Guerra, J., Neumann, M., Chin, M., & Rasay, M. (2014). An underwater robotic testbed for multi-vehicle control. 2014 IEEE/OES Autonomous Underwater Vehicles (AUV), 1–8. https://doi.org/10.1109/AUV.2014.7054418
Comments
2014 IEEE/OES Autonomous Underwater Vehicles (AUV)
Date of Conference: 06-09 October 2014
Conference Location: Oxford, MS, USA