Delphin2: an over actuated autonomous underwater vehicle for manoeuvring research


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), pp. 171-180.

Download

[img] PDF Delphin2.pdf - Author's Original
Download (843kB)

Description/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.

Item Type: Article
ISSNs: 1479-8751 (print)
Related URLs:
Subjects:
Organisations: Mechatronics, Ocean Technology and Engineering
ePrint ID: 202395
Date :
Date Event
October 2013Published
Date Deposited: 07 Nov 2011 11:12
Last Modified: 18 Apr 2017 01:20
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/202395

Actions (login required)

View Item View Item