2D Velocimetry Based on Differential Pressure for Autonomous Underwater Vehicles (ICRA 2020)

ICRA 2020

2D Velocimetry Based on Differential Pressure for Autonomous Underwater Vehicles (ICRA 2020)

Sep 18, 2020
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The video is based on the work described in our paper: Meurer, C., Fuentes-Pérez, J. F., Schwarzwälder, K., Ludvigsen, M., Sørensen, A. J., & Kruusmaa, M. (2020). 2D Estimation of Velocity Relative to Water and Tidal Currents Based on Differential Pressure for Autonomous Underwater Vehicles. IEEE Robotics and Automation Letters, 5(2), 3444-3451. The video was presented as on-demand video at this year's virtual IEEE International Conference for Robotics and Automation (ICRA 2020). We present a novel design of our Differential Pressure Sensor Speedometer (DPSS) for 2D velocity estimation (so actually we have a velocimeter now) and test a prototype in the presence of tidal currents. Our prototype is supposed to be a complement to existing technology or an alternative for small, resource and/or budget constraint Autonomous Underwater Vehicles. Our work was supported in part by the Estonian Centre for Excellence in ICT Research Project EXCITE under Grant TAR16013, in part by the Estonian Research Council Grant IUT-339 and in part by the Research Council of Norway through the Centre's of Excellence funding scheme, Project 223254 - NTNU AMOS. An animated illustration of our results can be seen in https://youtu.be/2hs_QFfLBOI

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