Corpus ID: 41416586

SURGE-YAW CONTROL OF A HYBRID UNDERWATER ROBOTIC VEHICLE

@inproceedings{Luque2013SURGEYAWCO,
  title={SURGE-YAW CONTROL OF A HYBRID UNDERWATER ROBOTIC VEHICLE},
  author={Juan Carlos Cutipa Luque and Juan Pablo Julca Avila},
  year={2013}
}
An underwater robotic vehicle is being developed at the UFABC (Universidade Federal do ABC) which has as main mission the inspection of ship hull thickness using ultrasonic transducers. This is a hybrid ROV (Remotely Operated Vehicle) due to its extreme locomotion capabilities adapted of the terrain tracked vehicles. This paper presents the surgeyaw control system of a new hybrid underwater vehicle that has two operation modes: free-flight and crawling. The free-flight mode uses a set of… Expand

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