ICRA 2019poster10 citations
An Integrated Approach to Navigation and Control in Micro Underwater Robotics using Radio-Frequency Localization
Daniel A Duecker, Tobias Johannink, Edwin Kreuzer, Viktor Rausch, Eugen Solowjow
Abstract
Navigation and control are a largely unsolved problems for micro autonomous underwater vehicles (μAUVs). The main challenges are due to the lack of accurate underwater localization systems, which fit on-board of μAUVs. In this work, we present an integrated navigation and control architecture consisting of a low-cost embedded localization module and an underwater way-point tracking controller, which fulfills the requirements of μAUVs. The performance of the navigation and control system is benchmarked in two different experimental scenarios.
BibTeX
@inproceedings{icra2019_anintegratedappr,
title = {An Integrated Approach to Navigation and Control in Micro Underwater Robotics using Radio-Frequency Localization},
author = {Daniel A Duecker and Tobias Johannink and Edwin Kreuzer and Viktor Rausch and Eugen Solowjow},
booktitle = {ICRA 2019},
year = {2019}
}