Saving energy with buoyancy and balance control for underwater robots with dynamic payloads
Saving energy with buoyancy and balance control for underwater robots with dynamic payloads
- New search for: Detweiler, Carrick
- New search for: Sosnowski, Stefan
- New search for: Vasilescu, Iuliu
- New search for: Rus, Daniela
- New search for: Detweiler, Carrick
- New search for: Sosnowski, Stefan
- New search for: Vasilescu, Iuliu
- New search for: Rus, Daniela
The authors have developed an underwater robot that can pick up and place objects during an autonomous underwater mission. This robot will have changing weight and dynamics during a mission. They have developed an efficient method for buoyancy control to achieve adaptation to weight changes without the need to increasing the work of the robot's thruster system. In this paper they describe the mechanism used for buoyancy and balance control. They also describe the adaptive control algorithms and data from physical experiments.
Document information
Saving energy with buoyancy and balance control for underwater robots with dynamic payloads
Energieeinsparung durch Auftriebs- und Gleichgewichtsregelung bei Unterwasserrobotern mit dynamischer Nutzlast
2009
10 Seiten, 9 Bilder, 8 Quellen
Conference paper
English
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