The Phoenix autonomous underwater vehicle

Abstract

. The Phoenix autonomous underwater collaboration with other scientists interested in either vehicle (AUV) is a robot for student research in robot or virtual world. Repeated validation of shallow-water sensing and control (Figure 1). Phoenix simulation extensions through real-world testing is neutrally buoyant at 387 pounds (176 kg) with a hull remains essential. Details are provided on process length of 7.2 feet (2.2 m). Multiple propellers, coordination, reactive behaviors, navigation, real-time thrusters, plane surfaces and sonars make this robot sonar classification, path replanning around detected highly controllable. The underwater environment obstacles, networking, sonar and hydrodynamics provides numerous difficulties for robot builders: modeling, and distributable computer graphics submerged hydrodynamics characteristics are complex rendering. Finally in-water experimental results are and coupled in six spatial degrees of freedom, sonar is presented and evaluated. problemati...