Ictiobot-40 a low cost AUV platform for acoustic imaging surveying
Ictiobot-40 a low cost AUV platform for acoustic imaging surveying
复制标题
Ictiobot-40 用于声学成像测量的低成本 AUV 平台
作者：
G. Acosta;B. menna;Ignacio Carlucho;M. D. Paula;S. Villar;H. Curti;A. Rozenfeld;Roberto J. de la Vega;Agustin Isasmendi;R. C. Leegstra;Luis M. Arrien
自主水下航行器 (AUV) 是适合海洋环境中各种应用的平台。这些应用程序在科学测量、近海工业和国防等各个领域得到开发。 AUV的使用需要较少的人力支持并降低运营成本。由于海洋环境不断变化，这些车辆必须应对不确定和恶劣的条件才能执行任务。在海洋机器人领域，INTELYMEC 团队于 2012 年开发了一款名为 Ictiobot 的 AUV 原型，这是一个用于多用途任务的低成本实验平台。本文介绍了原始原型的升级版 Ictiobot-40，旨在执行长达 2 小时和最大深度 40 米的声学成像测量任务。新的软硬件架构以及机械结构的改进，都有详细介绍。除了这些技术细节之外，还将讨论 AUV 在安静水域中性能的初步实验结果。此外，还介绍了正在开发的系统的新方法。
Autonomous Underwater Vehicles (AUVs) are suitable platforms for a wide type of applications in the oceanic environment. These applications are developed in various fields such as scientific surveying, off-shore industry and defense. The employment of AUVs requires less human support and reduces operation costs. Due to the changing marine environment these vehicles must deal with uncertain and hostile conditions to perform its tasks. In the marine robotics matter, the INTELYMEC group has developed in 2012 an AUV prototype called Ictiobot, a low cost experimental platform for multipurpose missions. In this paper an upgrade of the original prototype is presented, the Ictiobot-40, conceived to perform acoustic imaging surveying missions of up to two hours and maximum depths of 40 meters. The new software and hardware architectures and mechanical structure improvements, are detailed. In addition to these technical details, initial experimental results of the AUV performance in quiet waters will be discussed. Also, the new approaches for systems under development are presented.