IEEE Robotics & Automation Magazine · 1995 · 72 citations · 14 references
EngineeringAutonomous SystemsRobotics EngineeringMarine RoboticsRoboticsUnderwater RoboticsAutonomous NavigationAutonomous Underwater VehiclesMarine Robot ControlSubsea RoboticsUnderwater NavigationUnderwater Vehicle DesignAutonomous Underwater Vehicle NavigationAutonomous Underwater Vehicle SystemsDepth ControlUnderwater ManipulationUnderwater Navigation SystemsUnderwater Vehicle ControlUnderwater Vehicle NavigationVehicle Kinematics
The Autonomous Systems Laboratory is in the midst of developing an advanced underwater robotic technology test platform. The platform consists of the Omni-Directional Intelligent Navigator (ODIN) and the Integrated Graphic Workstation (IGW). ODIN is a six degree-of-freedom (dof) underwater vehicle with dual operational modes (autonomous and tethered) and a single dof mechanical manipulator. IGW is a real-time, 3-dimensional graphic monitoring, testing, and evaluation workstation. This paper presents ODIN's mechanical and electrical specifications; its vehicle dynamics and depth control system; its recent simulation and experimental results; and IGW's specifications.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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