I-AUV Mechatronics Integration for the TRIDENT FP7 Project

摘要

Autonomous underwater vehicles (AUVs) are routinelyused to survey areas of interest in seas and oceans all overthe world. However, those operations requiring intervention capabilitiesare still reserved to manned submersibles or remotely operatedvehicles (ROVs). In the recent years, few research projectshave demonstrated the viability of a new type of submersible, theintervention AUV (I-AUV), which can perform underwater missionsinvolving manipulations in a completely autonomous way.The EU FP7 TRIDENT project is one of the most recent examplesof such technological concept. This paper describes the differentmechatronic components that constitute the I-AUV developed forthe TRIDENT project, their hardware and software integra