Abstract
HANSE is a low-cost Autonomous Underwater Vehicle (AUV) capable of solving many common underwater challenges. In this paper we will present HANSE’s modular and expandable hardware and software design, the underwater simulator MARS, as well as robust and efficient sonar-based localization and vision-based object detection algorithms, with which we have successfully participated in the Student Autonomous Underwater Vehicle Challenge in Europe (SAUC-E) 2011.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
- 2.
Bullet Physics Library, http://bulletphysics.org.
- 3.
jMonkeyEngine 3, http://jmonkeyengine.com/.
References
Aulinas, J., Carreras, M., Llado, X., Salvi, J., Garcia, R., Prados, R., Petillot, Y.: Feature extraction for underwater visual SLAM. IEEE OCEANS, In (2010)
Aulinas, J., Petillot, Y., Llado, X., Salvi, J., Garcia, R.: Vision-based underwater SLAM for the SPARUS AUV. In: International Conference on Computer and IT Applications in the Maritime Industries (COMPIT), pp. 171–181 (2011)
Belkasim, S.O., Shridhar, M., Ahmadi, M.: Pattern recognition with moment invariants: a comparative study and new results. Pattern Recognition 24(12), 1117–1138 (1991)
Boeing, A., Bräunl, T.: SubSim: An autonomous underwater vehicle simulation package. In: International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE), pp. 33–38. Springer, Berlin, (2006)
Bohm, H.: Build Your Own Underwater Robot and Other Wet Projects. Westcoast Words, January (1997)
Forouher, D., Hartmann, J., Litza, M., Maehle, E.: Sonar-based FastSLAM in an underwater environment using walls as features. In, International Conference on Advanced Robotics (ICAR) (2011)
Maurelli, F., Cartwright, J., Johnson, N., Bossant, G., Garmier, P.-L., Regis, P., Sawas, J., Petillot, Y.: Nessie IV autonomous underwater vehicle. In, Unmanned Underwater Vehicles Showcase (UUVS) (2009)
Otsu, N.: A threshold selection method from gray-level histograms. IEEE Trans. Syst. Man Cybern. 9(1), 62–66 (1979)
Ridao, P., Batlle, E., Ribas, D., Carreras, M.: NEPTUNE: A HIL simulator for multiple UUVs, pp. 524–531. In: IEEE, OCEANS (2004)
Ribas, D., Ridao, P., Tardos, J.D., Neira, J.: Underwater SLAM in a marina environment. In: IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 1455–1460 (2007)
Sattar, J., Dudek, G.: On the performance of color tracking algorithms for underwater robots under varying lighting and visibility. In, IEEE International Conference on Robotics and Automation (ICRA) (2006)
Senarathne, P.G.C.N., Wijesoma, W.S., Lee, K.W., Kalyan, B., Moratuwage, M.D.P., Patrikalakis, N.M., Hover, F.S.: MarineSIM: Robot simulation for marine environments. IEEE, OCEANS, In (2010)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Forouher, D. et al. (2012). HANSE—A Low-Cost Autonomous Underwater Vehicle. In: Levi, P., Zweigle, O., Häußermann, K., Eckstein, B. (eds) Autonomous Mobile Systems 2012. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32217-4_16
Download citation
DOI: https://doi.org/10.1007/978-3-642-32217-4_16
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-32216-7
Online ISBN: 978-3-642-32217-4
eBook Packages: EngineeringEngineering (R0)