Hovering and altitude control for open-frame UUVs

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 20 Jan 2003Publisher:IEEEJournal:Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), volume 1, pages 72-77

Authors: Massimo Caccia; Gabriele Bruzzone; Gianmarco Veruggio;

doi: 10.1109/robot.1999.769933

Hovering and altitude control for open-frame UUVs

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Abstract

A two-layered hierarchical guidance and control architecture for UUVs has been integrated with a set of model-based motion estimators in order to enable the execution of high precision motion tasks in proximity of the seabed for scientific benthic applications. Preliminary tests, carried out in a high-diving pool, proved the system functionality, showing the high performances in terms of precision guaranteed by the use of PI-type guidance algorithms and combined estimation of the vehicle depth and altitude in hovering conditions.

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