Molnar L, Omerdic E, Van de Ven P, Toal D, Flanagan C

2004

August

Wseas Transactions On Circuits And Systems

On the Development of Tethra Submersible Vehicle for Autonomous and Remotely Operated Modes

Published

()

Autonomous Underwater Vehicle Embedded Controller Behaviour Based Control Architectures AUV Simulator

3

6

2454

2460

Tethra is a prototype autonomous underwater vehicle (AUV), designed at the University of Limerick, to carry out research in underwater robotics and control. The vehicle adopts a behaviour-based control paradigm. In this paper we report on the design of the Tethra test platform and the embedded controller development for investigating classical and more advanced control approaches. The Tethra test platform includes the development of AUV simulator, which is used as a foundation for off-line controller tuning and testing.

ISSN: 1109-2734

HEA PRTLI 3, Marine Science Research MSR £,2