Full Holonomic Control of the Omni-directional AUV SMART-E

K. Ehlers, B. Meyer, E. Maehle


To fulfill different underwater tasks in hard-to-reach areas, high maneuverable and agile Autonomous Underwater Vehicles (AUV) are needed. SMART-E is an omni-directional AUV with the minimal configuration of three pivot-able thrusters which is able to control all six degrees of freedom. This paper describes SMART-E and its full holonomic control realizing a smooth omni-directional underwater movement.
Original languageEnglish
Title of host publicationISR/Robotik 2014; 41st International Symposium on Robotics
Number of pages6
PublisherVDE Verlag GmbH
Publication date01.06.2014
ISBN (Electronic) 978-3-8007-3601-0
Publication statusPublished - 01.06.2014
EventJoint Conference of ISR 2014 - 45th International Symposium on Robotics and Robotik 2014 - 8th German Conference on Robotics, ISR/ROBOTIK 2014 - Munich, Germany
Duration: 02.06.201403.06.2014
Conference number: 114598


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