Hybrid Underwater Robot System Based on ROS

被引：2
|
作者：
Sani, Abdou Yahouza M. [1 ]
He, Tao [1 ,2 ]
Zhao, Wenlong [1 ]
Yao, TingTing [1 ]
机构：
[1] Shanghai Univ Engn Sci, Sch Mech & Automot Engn, Shanghai, Peoples R China
[2] Shanghai Univ Engn Sci, 333 Longteng Rd, Shanghai, Peoples R China
来源：
PROCEEDINGS OF THE 2019 INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT CONTROL AND ARTIFICIAL INTELLIGENCE (RICAI 2019) | 2019年
基金：
中国国家自然科学基金;
关键词：
ROV; AUV; ROS; SLAM; Pixhawk; Ardupilot; Underwater Robot;
D O I：
10.1145/3366194.3366264
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：396 / 400
页数：5
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