CADDY Project, Year 2: The First Validation Trials^*

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• 作者：Nikola Mi&scaron ; ković^* ; ^{nikola.miskovic@fer.hr" class="auth_mail" title="E-mail the corresponding author} ; Antonio Pascoal^** ; ^{antonio@isr.ist.utl.pt" class="auth_mail" title="E-mail the corresponding author} ; Marco Bibuli^*** ; ^{marco.bibuli@ge.issia.cnr.it" class="auth_mail" title="E-mail the corresponding author} ; Massimo Caccia^*** ; Jeffrey A. Neasham^**** ; ^{jeff.neasham@nevjcastle.ac.uk" class="auth_mail" title="E-mail the corresponding author} ; Andreas Birk^&dagger ; ; ^{a.birk@jacobs-university.de" class="auth_mail" title="E-mail the corresponding author} ; Murat Egi^&Dagger ; ; ^{smegi@daneurope.org" class="auth_mail" title="E-mail the corresponding author} ; Karl Grammer^§ ; ; ^{karl.grammer@univie.ac.at" class="auth_mail" title="E-mail the corresponding author} ; Alessandro Marroni^&Dagger ; ; Antonio Vasilijević^* ; Zoran Vukić^*
• 关键词：Autonomous ; remotely operated (surface and underwater) marine vessels ; Cooperative navigation ; control ; Guidance ; navigation ; control (GNC) of unmanned marine vehicles (surface and underwater)
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：23
• 页码：420-425
• 全文大小：1747 K

文摘

"CADDY - Cognitive Autonomous Diving Buddy" is an FP7 project that that is devoted to developing a cognitive underwater robotic system that will help divers during their activities in this hazardous environment. The envisioned resulting system will play a threefold role similar to those that a human buddy diver should have: buddy "observer", buddy "slave", and buddy "guide". During the second year of the project, validation trials were organized in Croatia with the purpose of testing all developed algorithms that will enable the three roles of the CADDY system. The trials were structured in five experiments. This paper is devoted to providing a concise overview of the conducted experiments and major results.