Autonomous ship hull inspection by omnidirectional path and view

摘要

We discovered the problems in ship hull inspection operation and build our autonomous underwater vehicle (AUV). The Autonomous Underwater Vehicles will be developed at Universiti Teknologi Malaysia, Kuala Lumpur, Malaysia with the aim of making a research platform in the field of autonomous underwater robotic systems. We studied the omnidirectional movement can go through in every direction. In our autonomous underwater vehicle, we build in omnidirectional application so that during the ship hull inspection the robot can reduce disturbance for viewing. There have three main parts to make it the autonomous underwater vehicle are reliable in real world task which are mechanical, electronic system and software.