On the synthesis of an underwater ship hull cleaning robot system

A design of an underwater ship hull cleaning robot system is presented in this paper. The design of the underwater robot is focused on the robot body and positioning system. Optimal body design process to satisfy conflicting design requirements is described. A sensor fusion model of the integrated navigation sensor system for underwater positioning is given. A numerical simulation and sea test are conducted with an integrated navigation system that is implemented with low cost sensors. Analysis on the experimental results on the navigation system is also given.

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