Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380736
M. Kemp, M. Palanza, C. Skibski, J. Ormsby, M. Estaphan
This paper introduces a station-keeping technique called Sprint-and-Drift, applicable for extended-duration barrier detection missions at extreme depths. The technique allows a UUV to station-keep at very low power, without being tied to the seafloor. Two of the enabling technologies, the high resolution variable buoyancy system, and the algorithm that controls the VBS, are described in detail.
{"title":"Persistence at full ocean depth","authors":"M. Kemp, M. Palanza, C. Skibski, J. Ormsby, M. Estaphan","doi":"10.1109/AUV.2012.6380736","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380736","url":null,"abstract":"This paper introduces a station-keeping technique called Sprint-and-Drift, applicable for extended-duration barrier detection missions at extreme depths. The technique allows a UUV to station-keep at very low power, without being tied to the seafloor. Two of the enabling technologies, the high resolution variable buoyancy system, and the algorithm that controls the VBS, are described in detail.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"74 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121635131","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380756
J. Sousa, P. Calado, R. Martins
The experimental setup and data from the final demonstration of the FP7 Coordination for Control (C4C) project are presented and discussed in the framework of the control architecture and software implementation developed by the LSTS laboratory from Porto University. The demonstration took place in the Leixões harbor in June 2011 and involved autonomous underwater vehicles, autonomous surface vehicles, our gateways (centralized communications hub for maritime assets, supporting several types of wireless and underwater networks) and a Long Baseline system. Demonstration scenarios are presented together with the technologies developed along the project and the results obtained.
{"title":"Coordinated control of ocean going vehicles","authors":"J. Sousa, P. Calado, R. Martins","doi":"10.1109/AUV.2012.6380756","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380756","url":null,"abstract":"The experimental setup and data from the final demonstration of the FP7 Coordination for Control (C4C) project are presented and discussed in the framework of the control architecture and software implementation developed by the LSTS laboratory from Porto University. The demonstration took place in the Leixões harbor in June 2011 and involved autonomous underwater vehicles, autonomous surface vehicles, our gateways (centralized communications hub for maritime assets, supporting several types of wireless and underwater networks) and a Long Baseline system. Demonstration scenarios are presented together with the technologies developed along the project and the results obtained.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128028848","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380740
B. Queste, K. Heywood, J. Kaiser, G. A. Lee, A. Matthews, S. Schmidtko, C. Walker-Brown, S. Woodward
Over the last couple of decades, autonomous underwater vehicles have become a powerful tool in the investigation of biological, chemical and physical oceanography. Not only do they complement existing technologies, they open up new avenues of investigation through their specific capabilities. For AUVs to benefit from the same success other long term monitoring platforms have had (moorings, ARGO), it is critical to understand their limits in both monitoring and process studies. We present results from several Seaglider deployments by the University of East Anglia where Seagliders were pushed to the limit of their abilities. Comparison of missions in extreme conditions at the limits of their depth range (70 to 1000 m) and battery life shows a need for tailored survey design and flight parameters in order to maximise mission duration, control over the Seaglider and most efficient science sampling. In particular, we look at post-processing of Seaglider data and present aspects of a new MATLAB toolbox which greatly improves on timestamp correction of Seaglider data by accounting for errors introduced by using a single thread processor.
{"title":"Deployments in extreme conditions: Pushing the boundaries of Seaglider capabilities","authors":"B. Queste, K. Heywood, J. Kaiser, G. A. Lee, A. Matthews, S. Schmidtko, C. Walker-Brown, S. Woodward","doi":"10.1109/AUV.2012.6380740","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380740","url":null,"abstract":"Over the last couple of decades, autonomous underwater vehicles have become a powerful tool in the investigation of biological, chemical and physical oceanography. Not only do they complement existing technologies, they open up new avenues of investigation through their specific capabilities. For AUVs to benefit from the same success other long term monitoring platforms have had (moorings, ARGO), it is critical to understand their limits in both monitoring and process studies. We present results from several Seaglider deployments by the University of East Anglia where Seagliders were pushed to the limit of their abilities. Comparison of missions in extreme conditions at the limits of their depth range (70 to 1000 m) and battery life shows a need for tailored survey design and flight parameters in order to maximise mission duration, control over the Seaglider and most efficient science sampling. In particular, we look at post-processing of Seaglider data and present aspects of a new MATLAB toolbox which greatly improves on timestamp correction of Seaglider data by accounting for errors introduced by using a single thread processor.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132262020","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380753
C. German, M. Jakuba, J. Kinsey, J. Partan, S. Suman, A. Belani, D. Yoerger
We outline a vision for persistent and/or long-range seafloor exploration and monitoring utilizing autonomous surface vessels (ASVs) and autonomous underwater vehicles (AUVs) to conduct coordinated autonomous surveys. Three types of surveys are envisioned: a) Autonomous tending of deep-diving AUVs: deployed from a research vessel, the ASV would act as a force-multiplier, watching over the AUV to provide operators and scientists with real-time data and re-tasking capabilities, while freeing the ship to conduct other over-the-side operations; b) Ridge-segment-scale (100 km) autonomous hydrothermal exploration: combined with conventional gliders or long-endurance AUVs, an ASV could tend a fleet of underwater assets equipped with low-power chemical sensors for mapping hydrothermal plumes and locating seafloor hydrothermal venting. Operators would control the system via satellite, such that a support ship would be needed only for initial deployment and final recovery 1-2 months later; and c) Basin-scale (10,000 km) autonomous surveys: a purpose-built autonomous surface vessel (mother-ship) with abilities up to and including autonomous deployment, recovery, and re-charge of subsea robots could explore or monitor the ocean and seafloor on the oceanic basin scale at a fraction of the cost of a global-class research vessel. In this paper we outline our long term conceptual vision, discuss some preliminary enabling technology developments that we have already achieved and set out a roadmap for progress anticipated over the next 2-3 years. We present an overview of the system architecture for autonomous tending along with some preliminary field work.
{"title":"A long term vision for long-range ship-free deep ocean operations: Persistent presence through coordination of Autonomous Surface Vehicles and Autonomous Underwater Vehicles","authors":"C. German, M. Jakuba, J. Kinsey, J. Partan, S. Suman, A. Belani, D. Yoerger","doi":"10.1109/AUV.2012.6380753","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380753","url":null,"abstract":"We outline a vision for persistent and/or long-range seafloor exploration and monitoring utilizing autonomous surface vessels (ASVs) and autonomous underwater vehicles (AUVs) to conduct coordinated autonomous surveys. Three types of surveys are envisioned: a) Autonomous tending of deep-diving AUVs: deployed from a research vessel, the ASV would act as a force-multiplier, watching over the AUV to provide operators and scientists with real-time data and re-tasking capabilities, while freeing the ship to conduct other over-the-side operations; b) Ridge-segment-scale (100 km) autonomous hydrothermal exploration: combined with conventional gliders or long-endurance AUVs, an ASV could tend a fleet of underwater assets equipped with low-power chemical sensors for mapping hydrothermal plumes and locating seafloor hydrothermal venting. Operators would control the system via satellite, such that a support ship would be needed only for initial deployment and final recovery 1-2 months later; and c) Basin-scale (10,000 km) autonomous surveys: a purpose-built autonomous surface vessel (mother-ship) with abilities up to and including autonomous deployment, recovery, and re-charge of subsea robots could explore or monitor the ocean and seafloor on the oceanic basin scale at a fraction of the cost of a global-class research vessel. In this paper we outline our long term conceptual vision, discuss some preliminary enabling technology developments that we have already achieved and set out a roadmap for progress anticipated over the next 2-3 years. We present an overview of the system architecture for autonomous tending along with some preliminary field work.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130969590","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380748
M. Brito, N. Bose, Ron Lewis, P. Alexander, G. Griffiths, J. Ferguson
The Autonomous Underwater Vehicle (AUV) community has for many years recognized the potential benefits made by adapting mission planning on-the-fly. Over the years there has been some degree of success in applying adaptive mission planning to very specific problems. Examples of applications include capabilities for a vehicle to search for, and then modify its trajectory to follow, a feature such as a plume or a thermocline, or to modify its trajectory to avoid an obstacle, or to find and follow a feature such as a pipeline. Despite an evident increase in the number of applications, the use of adaptive mission planning is still in its infancy. There is no doubt that adaptive mission planning will play a pivotal role in future AUV persistent presence. So what is delaying this technology from making the leap towards wider industry acceptance? This paper reviews the literature in adaptive mission planning and uses a failure analysis technique to identify key obstacles for the integration of this technique in wider AUV applications. We use our failure analysis to help devise recommendations for mitigating these obstacles. The complexity of the mathematical approaches used by adaptive techniques is one key obstacle. Perhaps of more importance is that the AUV community is increasingly requiring quantitative assessment of risk associated with the use of AUVs. We propose that probability is the appropriate measure for quantifying the risk of adaptive systems and their uncertainty. The work here presented is a collective endeavor of the Engineering Committee on Oceanic Resources Specialist Panel on Underwater Vehicles.
{"title":"The Role of adaptive mission planning and control in persistent autonomous underwater vehicles presence","authors":"M. Brito, N. Bose, Ron Lewis, P. Alexander, G. Griffiths, J. Ferguson","doi":"10.1109/AUV.2012.6380748","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380748","url":null,"abstract":"The Autonomous Underwater Vehicle (AUV) community has for many years recognized the potential benefits made by adapting mission planning on-the-fly. Over the years there has been some degree of success in applying adaptive mission planning to very specific problems. Examples of applications include capabilities for a vehicle to search for, and then modify its trajectory to follow, a feature such as a plume or a thermocline, or to modify its trajectory to avoid an obstacle, or to find and follow a feature such as a pipeline. Despite an evident increase in the number of applications, the use of adaptive mission planning is still in its infancy. There is no doubt that adaptive mission planning will play a pivotal role in future AUV persistent presence. So what is delaying this technology from making the leap towards wider industry acceptance? This paper reviews the literature in adaptive mission planning and uses a failure analysis technique to identify key obstacles for the integration of this technique in wider AUV applications. We use our failure analysis to help devise recommendations for mitigating these obstacles. The complexity of the mathematical approaches used by adaptive techniques is one key obstacle. Perhaps of more importance is that the AUV community is increasingly requiring quantitative assessment of risk associated with the use of AUVs. We propose that probability is the appropriate measure for quantifying the risk of adaptive systems and their uncertainty. The work here presented is a collective endeavor of the Engineering Committee on Oceanic Resources Specialist Panel on Underwater Vehicles.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115610238","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380719
D. Lane
We seek to develop autonomous robots that can operate and interact unsupervised for extended lengths of time in unknown environments, adapting their purpose in response to events and goals, learning from successes and failures, recovering from errors in execution whilst monitoring and maintaining self health. Such persistent autonomy is a challenging ambition, and the subject of an increasingly intense research effort. Two broad approaches have evolved, one rooted in artificial intelligence research from the 1970s onward, and the other in studies of animals and even plants that nature has evolved over millennia. Both offer opportunities and challenges in implementation. This paper presents a snapshot of recent and ongoing developments from each approach, and offers some perspectives on the potential that each offers.
{"title":"Persistent autonomy artificial intelligence or biomimesis?","authors":"D. Lane","doi":"10.1109/AUV.2012.6380719","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380719","url":null,"abstract":"We seek to develop autonomous robots that can operate and interact unsupervised for extended lengths of time in unknown environments, adapting their purpose in response to events and goals, learning from successes and failures, recovering from errors in execution whilst monitoring and maintaining self health. Such persistent autonomy is a challenging ambition, and the subject of an increasingly intense research effort. Two broad approaches have evolved, one rooted in artificial intelligence research from the 1970s onward, and the other in studies of animals and even plants that nature has evolved over millennia. Both offer opportunities and challenges in implementation. This paper presents a snapshot of recent and ongoing developments from each approach, and offers some perspectives on the potential that each offers.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128064954","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380733
M. Wiig, T. R. Krogstad, O. Midtgaard
This paper presents a concept and algorithms to detect, classify and identify mine-like objects within a single mission with an autonomous underwater vehicle. The autonomous mine hunting concept has been developed for the HUGIN series of vehicles. First, the operation area is surveyed either with a synthetic aperture sonar or a side-scanning sonar. During the survey, mine-like objects are detected and classified in the data using algorithms for automatic target recognition. When the survey is complete, a framework for autonomy initiates a fusion of the targets and starts the automatic planning of a mission plan for target identification. The autonomous mine hunting concept is a part of the development of a framework for advanced autonomy on HUGIN, the HUGIN autonomy layer. Implementation of this framework will reduce the risk of long-term AUV missions, and will provide intelligent vehicle behavior not only to re-inspect interesting objects and areas, but also to preserve vehicle safety, navigational accuracy and mission goals.
{"title":"Autonomous identification planning for mine countermeasures","authors":"M. Wiig, T. R. Krogstad, O. Midtgaard","doi":"10.1109/AUV.2012.6380733","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380733","url":null,"abstract":"This paper presents a concept and algorithms to detect, classify and identify mine-like objects within a single mission with an autonomous underwater vehicle. The autonomous mine hunting concept has been developed for the HUGIN series of vehicles. First, the operation area is surveyed either with a synthetic aperture sonar or a side-scanning sonar. During the survey, mine-like objects are detected and classified in the data using algorithms for automatic target recognition. When the survey is complete, a framework for autonomy initiates a fusion of the targets and starts the automatic planning of a mission plan for target identification. The autonomous mine hunting concept is a part of the development of a framework for advanced autonomy on HUGIN, the HUGIN autonomy layer. Implementation of this framework will reduce the risk of long-term AUV missions, and will provide intelligent vehicle behavior not only to re-inspect interesting objects and areas, but also to preserve vehicle safety, navigational accuracy and mission goals.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126343332","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380735
B. Hobson, J. Bellingham, B. Kieft, R. McEwen, M. Godin, Yanwu Zhang
Most existing propeller-driven, cruising AUVs operate with a support ship and have an endurance of about one day. However, many oceanographic processes evolve over days or weeks, requiring propeller-driven vehicles be attended by a ship for complete observation programs. The Monterey Bay Aquarium Research Institute (MBARI) developed the 105 kg propeller-driven Tethys AUV to conduct science missions over periods of weeks or even months without a ship [1]. Here we describe a three week deployment covering 1800 km at a speed of 1 m/s, supporting sensor power levels averaging 5 watts. Unlike buoyancy driven gliders, Tethys uses a propeller that allows level flight and a variable speed range of 0.5 - 1.2 m/s. The extended endurance enables operations in remote locations like under the ice, across ocean basins in addition to enabling continuous presence in smaller areas. Early success led to the construction of a second Tethys-class AUV with a third in planning. An AUV docking station that can be mated to a cabled observatory or standalone mooring is in development to further extend Tethys endurance.
{"title":"Tethys-class long range AUVs - extending the endurance of propeller-driven cruising AUVs from days to weeks","authors":"B. Hobson, J. Bellingham, B. Kieft, R. McEwen, M. Godin, Yanwu Zhang","doi":"10.1109/AUV.2012.6380735","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380735","url":null,"abstract":"Most existing propeller-driven, cruising AUVs operate with a support ship and have an endurance of about one day. However, many oceanographic processes evolve over days or weeks, requiring propeller-driven vehicles be attended by a ship for complete observation programs. The Monterey Bay Aquarium Research Institute (MBARI) developed the 105 kg propeller-driven Tethys AUV to conduct science missions over periods of weeks or even months without a ship [1]. Here we describe a three week deployment covering 1800 km at a speed of 1 m/s, supporting sensor power levels averaging 5 watts. Unlike buoyancy driven gliders, Tethys uses a propeller that allows level flight and a variable speed range of 0.5 - 1.2 m/s. The extended endurance enables operations in remote locations like under the ice, across ocean basins in addition to enabling continuous presence in smaller areas. Early success led to the construction of a second Tethys-class AUV with a third in planning. An AUV docking station that can be mated to a cabled observatory or standalone mooring is in development to further extend Tethys endurance.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132241422","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380725
T. Hiller, A. Steingrimsson, R. Melvin
Small, man-portable AUVs now carry out engineering and geophysical survey tasks where previously boat-mount, towed or ROV-mounted sonars would have been required. The commercial use of low-logistics AUVs in the offshore survey industry is expanding rapidly, with several companies now operating small survey AUVs worldwide. This paper describes some of the advances in vehicle and payload technology which have enabled the uptake in commercial survey roles such as pipeline inspections, rig move surveys, harbor inspections and environmental work. Modular AUV design has enabled the continued expansion of the small-AUV envelope of operations: extending time on-site with field-swappable batteries; enhancing deliverables with multi-sensor configurations such as swath bathymetry and sub-bottom profiler; and enabling longer mission durations with multiple battery configurations. One limitation to AUV operations has been the accuracy of navigation during extended submerged missions. This has led to the development of subsea position aiding techniques such as inverted USBL to improve in the accuracy of longer missions and deeper water surveys (up to 1000m). Current AUV system performance and capabilities are illustrated using examples of side scan, swath bathymetry and sub-bottom data from a widely used low-logistics survey AUV, the Gavia Surveyor.
{"title":"Expanding the small AUV mission envelope; longer, deeper & more accurate","authors":"T. Hiller, A. Steingrimsson, R. Melvin","doi":"10.1109/AUV.2012.6380725","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380725","url":null,"abstract":"Small, man-portable AUVs now carry out engineering and geophysical survey tasks where previously boat-mount, towed or ROV-mounted sonars would have been required. The commercial use of low-logistics AUVs in the offshore survey industry is expanding rapidly, with several companies now operating small survey AUVs worldwide. This paper describes some of the advances in vehicle and payload technology which have enabled the uptake in commercial survey roles such as pipeline inspections, rig move surveys, harbor inspections and environmental work. Modular AUV design has enabled the continued expansion of the small-AUV envelope of operations: extending time on-site with field-swappable batteries; enhancing deliverables with multi-sensor configurations such as swath bathymetry and sub-bottom profiler; and enabling longer mission durations with multiple battery configurations. One limitation to AUV operations has been the accuracy of navigation during extended submerged missions. This has led to the development of subsea position aiding techniques such as inverted USBL to improve in the accuracy of longer missions and deeper water surveys (up to 1000m). Current AUV system performance and capabilities are illustrated using examples of side scan, swath bathymetry and sub-bottom data from a widely used low-logistics survey AUV, the Gavia Surveyor.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132519115","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-13DOI: 10.1109/AUV.2012.6380749
Sarah E. Houts, S. M. Rock, Rob McEwen
A motivating mission for AUVs is to collect a time series of images of a benthic site to monitor it for change. This mission includes performing a visual survey of an area of the seafloor and then returning to selected sites within that survey area on subsequent visits. To enable this capability for remote sites far from the launch point, an AUV designed for long-distance travel is required. Such AUVs are typically motion-constrained - they cannot hover and must maintain forward flight for controllability. In addition to a navigational system capable of returning the vehicle to the site, a terrain-following system is required to allow the motion-constrained AUV to fly safely within a few meters of the seafloor to collect images. Recent demonstrations using MBARI's Doradoclass AUVs combined with a Terrain-Relative Navigation system (TRN) have proven much of the navigational capability, demonstrating return-to-site within approximately 3 m. Imaging of the seafloor using these AUVs has also been demonstrated using a reactive obstacle avoidance control law. While successful, this reactive-only system is conservative, resulting in sections of the seafloor being missed during the imaging process. This paper presents an approach for planning terrain-following trajectories for an AUV that will allow it to operate safely in close proximity to rugged terrain. The approach fuses reactive obstacle avoidance with anticipatory information from the TRN system. Specifically, by including knowledge of known terrain ahead, a more aggressive trajectory can be planned, resulting in improved mission performance without compromising vehicle safety. A reactive system is still incorporated, but only to handle any unmapped obstacles that are encountered. The new terrain-following algorithm is described, and its feasibility is demonstrated through simulations using field data from AUV operations in Monterey Bay.
{"title":"Aggressive terrain following for motion-constrained AUVs","authors":"Sarah E. Houts, S. M. Rock, Rob McEwen","doi":"10.1109/AUV.2012.6380749","DOIUrl":"https://doi.org/10.1109/AUV.2012.6380749","url":null,"abstract":"A motivating mission for AUVs is to collect a time series of images of a benthic site to monitor it for change. This mission includes performing a visual survey of an area of the seafloor and then returning to selected sites within that survey area on subsequent visits. To enable this capability for remote sites far from the launch point, an AUV designed for long-distance travel is required. Such AUVs are typically motion-constrained - they cannot hover and must maintain forward flight for controllability. In addition to a navigational system capable of returning the vehicle to the site, a terrain-following system is required to allow the motion-constrained AUV to fly safely within a few meters of the seafloor to collect images. Recent demonstrations using MBARI's Doradoclass AUVs combined with a Terrain-Relative Navigation system (TRN) have proven much of the navigational capability, demonstrating return-to-site within approximately 3 m. Imaging of the seafloor using these AUVs has also been demonstrated using a reactive obstacle avoidance control law. While successful, this reactive-only system is conservative, resulting in sections of the seafloor being missed during the imaging process. This paper presents an approach for planning terrain-following trajectories for an AUV that will allow it to operate safely in close proximity to rugged terrain. The approach fuses reactive obstacle avoidance with anticipatory information from the TRN system. Specifically, by including knowledge of known terrain ahead, a more aggressive trajectory can be planned, resulting in improved mission performance without compromising vehicle safety. A reactive system is still incorporated, but only to handle any unmapped obstacles that are encountered. The new terrain-following algorithm is described, and its feasibility is demonstrated through simulations using field data from AUV operations in Monterey Bay.","PeriodicalId":340133,"journal":{"name":"2012 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129838394","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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