Development and implementation of a low-level control system for the underwater remotely operated vehicle Visor3

Santiago A. Zuluaga, Santiago Rúa, Rafael E. Vásquez, Carlos A. Zuluaga, Julio C. Correa

    Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

    2 Citas (Scopus)

    Resumen

    This paper addresses the development and implementation of a low level control system for the underwater vehicle Visor3, developed by the Universidad Pontificia Bolivariana, located at Medellín, Colombia. Visor3 is an observation class ROV that was developed for surveillance and inspection of port facilities and underwater structures and has been used as a test platform for the development of robotic technology for underwater exploration of Colombian seas. Both, the control and navigation algorithms were implemented in the on-board processor (BeagleBone embedded computer). This processor is running an Ångström operating system which is a Linux distribution used in embedded devices with built-in components. The control and navigation algorithms were tested in a hardware in the loop (HIL) environment using a 6-DOF mathematical model of Visor3 before the real test. Results from the HIL simulation and experimental test are compared. Results show that the HIL is powerful tool for the NGC development of the ROV.

    Idioma originalInglés
    Título de la publicación alojadaOCEANS 2016 MTS/IEEE Monterey, OCE 2016
    EditorialInstitute of Electrical and Electronics Engineers Inc.
    ISBN (versión digital)9781509015375
    DOI
    EstadoPublicada - 28 nov. 2016
    Evento2016 OCEANS MTS/IEEE Monterey, OCE 2016 - Monterey, Estados Unidos
    Duración: 19 sept. 201623 sept. 2016

    Serie de la publicación

    NombreOCEANS 2016 MTS/IEEE Monterey, OCE 2016

    Conferencia

    Conferencia2016 OCEANS MTS/IEEE Monterey, OCE 2016
    País/TerritorioEstados Unidos
    CiudadMonterey
    Período19/09/1623/09/16

    Nota bibliográfica

    Publisher Copyright:
    © 2016 IEEE.

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