Delphin2: an over actuated autonomous underwater vehicle for manoeuvring research
Delphin2: an over actuated autonomous underwater vehicle for manoeuvring research
Delphin2 is a hover capable torpedo style Autonomous Underwater Vehicle (AUV), developed at the University of Southampton to provide a test bed for research in marine robotics, primarily to enhance the manoeuvring capability of AUVs. This paper describes the mechanical design of the vehicle and its software architecture. The performance of the vehicle is presented as well as preliminary findings from the vehicle’s first fully autonomous video survey issions in Lough Erne, Northern Ireland. It is interesting to note that the low-cost of the vehicle and its development using a succession of MEng and PhD students has provided an excellent training environment for specialists in the growing area of marine autonomous vehicles.
171-180
Philips, A.B.
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Steenson, L.V.
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Rogers, E
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Turnock, S.R.
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Harris, C.A.
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Furlong, M.
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October 2013
Philips, A.B.
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Steenson, L.V.
86073c5a-69e6-4764-91ae-d764a5cef06b
Rogers, E
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Turnock, S.R.
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Harris, C.A.
c94c099d-018d-41e7-a3ef-3b45bf36456b
Furlong, M.
332e9aef-8c6b-452f-8b85-712492767458
Philips, A.B., Steenson, L.V., Rogers, E, Turnock, S.R., Harris, C.A. and Furlong, M.
(2013)
Delphin2: an over actuated autonomous underwater vehicle for manoeuvring research.
Transactions of The Royal Institution of Naval Architects Part A: International Journal of Maritime Engineering, 155 (A4), .
Abstract
Delphin2 is a hover capable torpedo style Autonomous Underwater Vehicle (AUV), developed at the University of Southampton to provide a test bed for research in marine robotics, primarily to enhance the manoeuvring capability of AUVs. This paper describes the mechanical design of the vehicle and its software architecture. The performance of the vehicle is presented as well as preliminary findings from the vehicle’s first fully autonomous video survey issions in Lough Erne, Northern Ireland. It is interesting to note that the low-cost of the vehicle and its development using a succession of MEng and PhD students has provided an excellent training environment for specialists in the growing area of marine autonomous vehicles.
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Delphin2.pdf
- Author's Original
More information
Published date: October 2013
Organisations:
Mechatronics, Ocean Technology and Engineering
Identifiers
Local EPrints ID: 202395
URI: http://eprints.soton.ac.uk/id/eprint/202395
ISSN: 1479-8751
PURE UUID: 3bd79889-ada5-4d3b-9a97-a53bce2aee61
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Date deposited: 07 Nov 2011 11:12
Last modified: 15 Mar 2024 03:21
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Contributors
Author:
A.B. Philips
Author:
L.V. Steenson
Author:
E Rogers
Author:
C.A. Harris
Author:
M. Furlong
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