{"title":"Seabed following for small autonomous underwater vehicles","authors":"V. Creuze, B. Jouvencel, P. Baccou","doi":"10.1109/OCEANS.2001.968754","DOIUrl":null,"url":null,"abstract":"This paper presents a seabed following method for an under-actuated autonomous underwater vehicle navigating in unknown environment. Seabed following is achieved through construction of a local trajectory calculated thanks to bathymetric data given by basic sounders. Moreover, this trajectory respects the dynamic constraints of the vehicle. It is computed by using an algorithm based on simple geometric functions and interpolation curves called \"semi-forced cubic splines.\" The bathymetric data comes from three electro-acoustic transducers situated in the front part of the vehicle. Our method has been validated with the hydrodynamic simulator of the \"Taipan\" vehicle, which is the autonomous underwater vehicle prototype of our laboratory. The front part of Taipan is fitted with measurement instruments. They have already been tested and results are presented.","PeriodicalId":326183,"journal":{"name":"MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2001-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/OCEANS.2001.968754","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 8
Abstract
This paper presents a seabed following method for an under-actuated autonomous underwater vehicle navigating in unknown environment. Seabed following is achieved through construction of a local trajectory calculated thanks to bathymetric data given by basic sounders. Moreover, this trajectory respects the dynamic constraints of the vehicle. It is computed by using an algorithm based on simple geometric functions and interpolation curves called "semi-forced cubic splines." The bathymetric data comes from three electro-acoustic transducers situated in the front part of the vehicle. Our method has been validated with the hydrodynamic simulator of the "Taipan" vehicle, which is the autonomous underwater vehicle prototype of our laboratory. The front part of Taipan is fitted with measurement instruments. They have already been tested and results are presented.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
