AUV navigation around jacket structures I: Relative localization based on multi-sensor fusion

Toshihiro Maki, Hayato Mizushima, Tamaki Ura, Takashi Sakamaki, Masao Yanagisawa

    Research output: Contribution to journalArticle

    6 Citations (Scopus)

    Abstract

    Underwater jacket structures or support legs of on-water platforms, such as ports and oil rigs, need to be periodically inspected for maintenance, environmental monitoring, and security reasons. Autonomous underwater vehicles (AUVs) can potentially make these tasks more inexpensive and reliable compared to conventional methods that involve the use of divers and remotely operated vehicles. This paper proposes a robust and practical selflocalization method for an underwater vehicle navigating around jacket structures, where the performance of conventional acoustic positioning suffers from multipath degradation. The key idea is to stochastically update the vehicle’s horizontal position and heading relative to the structures using two types of perceptional sensors, sonar and camera, assuming that the configuration of the structure is known. The performance of the method was verified with tank experiments using a jacket mock-up and the AUV Tri-Dog 1.

    Original languageEnglish
    Pages (from-to)330-339
    Number of pages10
    JournalJournal of Marine Science and Technology (Japan)
    Volume17
    Issue number3
    DOIs
    Publication statusPublished - 2012 Mar 9

      Fingerprint

    Keywords

    • Autonomous underwater vehicle
    • Jacket structures
    • Navigation
    • Port maintenance
    • Sensor fusion

    ASJC Scopus subject areas

    • Ocean Engineering
    • Mechanics of Materials
    • Mechanical Engineering
    • Oceanography

    Cite this