Smart-E An Autonomous Omnidirectional Underwater Robot
The survey of waterbodies or underwater installations is a challenging task. To reduce the danger for divers, Autonomous Underwater Vehicles (AUVs) can be deployed. These requires a high manoeuvrability and agility in order to provide access in hard-to-reach areas. Smart-E is an omnidirectional AUV...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2013-12-01
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| Series: | Paladyn |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/pjbr-2013-0015 |
| _version_ | 1797428363788288000 |
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| author | Meyer Benjamin Ehlers Kristian Osterloh Christoph Maehle Erik |
| author_facet | Meyer Benjamin Ehlers Kristian Osterloh Christoph Maehle Erik |
| author_sort | Meyer Benjamin |
| collection | DOAJ |
| description | The survey of waterbodies or underwater installations is a challenging task. To reduce the danger for divers, Autonomous
Underwater Vehicles (AUVs) can be deployed. These requires a high manoeuvrability and agility in order
to provide access in hard-to-reach areas. Smart-E is an omnidirectional AUV designed and developed at the Institute
of Computer Engineering of the University of Luebeck. The drive is realized by the minimal configuration of three
thrusters that are arranged at 120º to each other. To achieve omnidirectional movement in the 3D space, each
motor pivots through 180º around its radial axis with the aid of a servo motor. This leads to a manoeuvrability of six
degrees of freedom (DOF). Smart-E is equipped with various sensors like a pressure and temperature sensor, a 360º
scanning sonar, an IMU-AHRS system and a tilt camera unit at the bottom. Besides the autonomous behaviors, the
main challenge is to control all six DOF of the AUV to achieve a smooth and controllable omnidirectional underwater
movement even in rough environments. |
| first_indexed | 2024-03-09T08:56:52Z |
| format | Article |
| id | doaj.art-1b920043149d488eab0093200d827078 |
| institution | Directory Open Access Journal |
| issn | 2081-4836 |
| language | English |
| last_indexed | 2024-03-09T08:56:52Z |
| publishDate | 2013-12-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Paladyn |
| spelling | doaj.art-1b920043149d488eab0093200d8270782023-12-02T12:43:43ZengDe GruyterPaladyn2081-48362013-12-014420421010.2478/pjbr-2013-0015Smart-E An Autonomous Omnidirectional Underwater RobotMeyer Benjamin0Ehlers Kristian1Osterloh Christoph2Maehle Erik3University of Luebeck, Inst. of Computer Engineering Ratzeburger Allee 160, 23562 Luebeck, GermanyUniversity of Luebeck, Inst. of Computer Engineering Ratzeburger Allee 160, 23562 Luebeck, GermanyUniversity of Luebeck, Inst. of Computer Engineering Ratzeburger Allee 160, 23562 Luebeck, GermanyUniversity of Luebeck, Inst. of Computer Engineering Ratzeburger Allee 160, 23562 Luebeck, GermanyThe survey of waterbodies or underwater installations is a challenging task. To reduce the danger for divers, Autonomous Underwater Vehicles (AUVs) can be deployed. These requires a high manoeuvrability and agility in order to provide access in hard-to-reach areas. Smart-E is an omnidirectional AUV designed and developed at the Institute of Computer Engineering of the University of Luebeck. The drive is realized by the minimal configuration of three thrusters that are arranged at 120º to each other. To achieve omnidirectional movement in the 3D space, each motor pivots through 180º around its radial axis with the aid of a servo motor. This leads to a manoeuvrability of six degrees of freedom (DOF). Smart-E is equipped with various sensors like a pressure and temperature sensor, a 360º scanning sonar, an IMU-AHRS system and a tilt camera unit at the bottom. Besides the autonomous behaviors, the main challenge is to control all six DOF of the AUV to achieve a smooth and controllable omnidirectional underwater movement even in rough environments.https://doi.org/10.2478/pjbr-2013-0015autonomous underwater vehicle omnidirectional drive underwater inspection |
| spellingShingle | Meyer Benjamin Ehlers Kristian Osterloh Christoph Maehle Erik Smart-E An Autonomous Omnidirectional Underwater Robot Paladyn autonomous underwater vehicle omnidirectional drive underwater inspection |
| title | Smart-E An Autonomous Omnidirectional Underwater Robot |
| title_full | Smart-E An Autonomous Omnidirectional Underwater Robot |
| title_fullStr | Smart-E An Autonomous Omnidirectional Underwater Robot |
| title_full_unstemmed | Smart-E An Autonomous Omnidirectional Underwater Robot |
| title_short | Smart-E An Autonomous Omnidirectional Underwater Robot |
| title_sort | smart e an autonomous omnidirectional underwater robot |
| topic | autonomous underwater vehicle omnidirectional drive underwater inspection |
| url | https://doi.org/10.2478/pjbr-2013-0015 |
| work_keys_str_mv | AT meyerbenjamin smarteanautonomousomnidirectionalunderwaterrobot AT ehlerskristian smarteanautonomousomnidirectionalunderwaterrobot AT osterlohchristoph smarteanautonomousomnidirectionalunderwaterrobot AT maehleerik smarteanautonomousomnidirectionalunderwaterrobot |