I-AUV Mechatronics Integration for the TRIDENT FP7 Project

TitleI-AUV Mechatronics Integration for the TRIDENT FP7 Project
Publication TypeJournal Article
Year of Publication2015
AuthorsRibas, D, Ridao, P, Turetta, A, Melchiorri, C, Palli, G, Fernádez, J, Sanz, PJ
JournalIEEE/ASME Transactions on Mechatronics
Start Page1-10
Date Published02/2015
KeywordsAutonomous underwater vehicle (AUV), intervention, underwater robotics

Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 TRIDENT project is one of the most recent examples of such technological concept. This paper describes the different mechatronic components that constitute the I-AUV developed for the TRIDENT project, their hardware and software integration, and the performance of the vehicle during the project trials.