Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots.

ABSTRACT: The use of unmanned underwater vehicles is steadily increasing for a variety of applications such as mapping, monitoring, inspection and intervention within several research fields and industries, e.g., oceanography, marine biology, military, and oil and gas. Particularly interesting types of unmanned underwater vehicles are bio-inspired robots such as underwater snake robots (USRs). Due to their flexible and slender body, these versatile robots are highly maneuverable and have better access capabilities than more conventional remotely operated vehicles (ROVs). Moreover, the long and slender body allows for energy-efficient transit over long distances similar to torpedo-shaped autonomous underwater vehicles (AUVs). In addition, USRs are capable of performing light intervention tasks, there

SUBMITTER: Kelasidi E 

PROVIDER: S-EPMC7805762 | biostudies-literature | 2019

REPOSITORIES: biostudies-literature