Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments.In this work, we present the design, implementation, and testing of a guidance system for the UX-1 robot, a novel spherical underwater vehicle designed to explore and map flooded underground mines.  Finally, the system's validation and integration with the rest of the UX-1 robot systems are presented.  The results obtained in these tests demonstrate the effectiveness of the guidance system and its proper integration with the rest of the systems of the robot, and validate the abilities of the UX-1 platform to perform complex missions in flooded mine environments.
UX-1
Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments.In this work, we present the design, implementation, and testing of a guidance system for the UX-1 robot, a novel spherical underwater vehicle designed to explore and map flooded underground mines.  Finally, the system's validation and integration with the rest of the UX-1 robot systems are presented.  The results obtained in these tests demonstrate the effectiveness of the guidance system and its proper integration with the rest of the systems of the robot, and validate the abilities of the UX-1 platform to perform complex missions in flooded mine environments.
UX-1