Experimental results on smooth path tracking with application to pipe surveying on inexpensive AUV
| Title | Experimental results on smooth path tracking with application to pipe surveying on inexpensive AUV |
| Publication Type | Conference Paper |
| Year of Publication | 2008 |
| Authors | Calvo O, Rozenfeld A, Souza A., Valenciaga F, Puleston PF, Acosta G |
| Conference Name | Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on |
| Date Published | Sept |
| Keywords | autonomous pipline inspections, Equations, industrial robots, inspection, line of sight algorithm, Lyapunov based path planning, Lyapunov methods, Mathematical model, mobile robots, Navigation, path following, Path planning, pipe searching, pipe surveying, Pipelines, pipes, remotely operated vehicles, smooth path tracking, torpedo shaped AUV, Trajectory, Vehicles |
| Abstract | 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 construction 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. |
| URL | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=4650966 |
| DOI | 10.1109/IROS.2008.4650966 |
Research Line:
Control theory
Control of autonomous systems
