μAUV~2 - Development of a Minuscule Autonomous Underwater Vehicle

摘要

Small sized robotic systems have operational advantages compared to large systems. They can also operate in fields of application where bigger systems would fail. This paper describes the specifications and the design of the autonomous underwater vehicle μAUV~2. Technical details of the system regarding sensor setup, motorization and computing power are given. Furthermore, we present details about the system identification process and the implemented controller structure. Possible scopes of the μAUV~2 are underwater exploration, inspection tasks, development and evaluation of algorithms, education and competitions.