Creación de mapas batimétricos usando vehículos submarinos autónomos en el río Magdalena
DOI:
https://doi.org/10.25043/19098642.38Palabras clave:
vehículo submarino autónomoResumen
El objetivo es desarrollar un algoritmo de orientación y navegación para un AUV (Autonomous Underwater Vehicle) para realizar el escaneado de alta resolución del cambiante lecho del río Magdalena, principal río de Colombia, desde su desembocadura hasta una distancia de 10 Km río arriba, que se considera la sección de mayor riesgo para navegar. Usando control geométrico se diseñó el empuje necesario para unvehículo submarino autónomo subactuado para realizar la misión deseada.
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Referencias bibliográficas
ANDONIAN, M., CAZZARO, L.,INVERNIZZI, L, and CHYBA, M. Geometric Control for Autonomous Underwater Vehicles: Overcoming a Th ruster Failure. IEEE Conference on Decisions and Control. Atlanta, GA. 2010.
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MINISTRY OF TRANSPORTATION, Ofi cina Asesora de Planeacion, Grupo de Planifi cacion Sectorial, Diagnóstico del Sector Transporte, 2008. http://www.mintransporte.gov.co/ Servicios/Estadisticas/home.htm.
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