Isobath following using an altimeter as a unique exteroceptive sensor
Résumé
We consider an underwater robot equipped with an altimeter (a simple echo-sounder oriented downward), a barometer and a low cost gyroscope. The robot has no compass. We show that using vector field control combined with a Kalman observer, it is possible to follow an isobath (which is a curve that connects all points having the same depth). The robustness of the controller is validated on a simulation.
Domaines
Automatique / Robotique
Origine : Fichiers produits par l'(les) auteur(s)
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