Pub Date : 2016-11-01DOI: 10.1109/AUV.2016.7778674
T. Matsuda, T. Maki, Yoshiki Sato, T. Sakamaki
This paper presents the latest results of sea experiments and tank tests on the navigation method for wide-area surveys of the seafloor using multiple autonomous underwater vehicles (AUVs). Each AUV alternately becomes a landmark, which remains stationary on the seafloor, while the other AUVs can navigate over a wide area with high positioning accuracy based on the landmark AUV. Unlike conventional navigation methods such as dead reckoning or inertial navigation, our method realizes stable navigation using only AUVs. Our goal is to realize surveying near the seafloor using only AUVs, without any surface aid. Alternating landmark navigation (ALN) is implemented with AUVs `Tri-Dog 1', `Tri-TON' and `Tri-TON 2'. On the basis of the sea experiments and tank tests conducted with these AUVs, the performance of ALN is verified.
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Pub Date : 2016-11-01DOI: 10.1109/AUV.2016.7778688
H. Roh, Hangil Joe, Son-cheol Yu
To realize moor-less buoy which keeps position on the deep sea without an anchor, the moor-less buoy system was proposed [1]. The system adopted `Wave Glider' [2] as a propulsion unit, which could make thrust by ocean wave energy without extra energy like battery. However, there are always a risk to be swept away by ocean current, because ocean wave and ocean current are irregular. In this paper, we proposed theoretical motion modeling, and analyzed the characteristic of trajectories of the system along wave power under the current condition.
{"title":"Modeling trajectory characteristic of moor-less buoy system under ocean current","authors":"H. Roh, Hangil Joe, Son-cheol Yu","doi":"10.1109/AUV.2016.7778688","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778688","url":null,"abstract":"To realize moor-less buoy which keeps position on the deep sea without an anchor, the moor-less buoy system was proposed [1]. The system adopted `Wave Glider' [2] as a propulsion unit, which could make thrust by ocean wave energy without extra energy like battery. However, there are always a risk to be swept away by ocean current, because ocean wave and ocean current are irregular. In this paper, we proposed theoretical motion modeling, and analyzed the characteristic of trajectories of the system along wave power under the current condition.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128517396","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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