Development of an underwater robot, ODIN-III

Abstract

During the last decade, the first autonomous under-In this paper, details of the development of ODIN-Ill are water robot Of the Autonomous system Laboratory Of the UNversity of Hawaii, ODIN (0"-Directional Intelligent Navigator) built in 1991 has produced a lot of valuable results in development control methods 11-51. Recently, ODIN was bo,.,, again in the 3rd eeneration with unioue features under recent techuoloeies described,-as well as the basic algorithm for the framework, and experimental results for a fine motion control scheme using a null motion solution considering practical issues such as energy consumption and thruster saturation. such-as abundant system resources owing to a PC104+, iew vehicle system software architectures with an object-oriented concept and its implementation, a graphical user interface and an independent algorithm module using a dynamic linking library (DLL) based on the Windows operating system. These give us an ideal enrimnment for developing various algorithms which are needed for developing an advanced underwater mbotic vehicle. This paper describes details of the development of ODIN-111 and presents Initial experimental results for fine motion control.

Complete SE³ underwater robot control with arbitrary thruster configurations

“…Our robot, AMOUR, is a high degree of freedom robot [1] that can accommodate up to 8 thrusters. Other robots in this class of robots include the University of Hawaii ODIN-III robot [5], the CSIRO Starbug robot [6] and the Bluefin Robotics HAUV [7].…”

Experiments with Cooperative Control of Underwater Robots

“…The ODIN project [Choi et al, 2003, Hanai et al, 2004 aims to create underwater robots with redundant thrusters that can learn their body models and synthesis controllers matching the learned models.…”

Brief Analysis of Underwater Movements of Spherical Robot

“…The typical spherical underwater robot developed by the laboratory in University of Hawaii was the ODIN-III. The new characteristic of the third generation of ODIN was the increase of new board computer system which was connected with the robot by TCP/IP and can operate remotely via Ethernet or to be a relay control system at the same time [8] . For example, the University of Manchester and University of Oxford co-developed a kind of μ-AUV.…”