Low altitude tracking of rugged seafloors for autonomous visual observation

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

While visual observation is an ideal method for detailed survey of seafloors, it is still difficult for an Autonomous Underwater Vehicle (AUV) to track rugged terrains at low altitudes of ideal 1 to 2 meters. This paper proposes a real-time navigation architecture for hovering class AUVs equipped with perceptional sensors looking forwards, sideways and downward, to operate under such conditions. The method controls vertical motion while placing almost no restrictions on motion in the horizontal plane, achieving high compatibility with existing navigation scheme. The algorithm is a hybrid of sensor and map based approaches where the vehicle continually updates a local geometrical map of hazard areas using its perceptional measurements while performing conventional auto-altitude tracking. If the vehicle enters any of the hazard areas, sensor based control is invoked with depth as the control reference to elevate the AUV until it passes the hazard area. The method was verified through tank experiments using the AUV Tri-Dog 1. The AUV successfully followed a lawn-mower trajectory over a rugged terrain consisting of knolls and slopes while maintaining an extremely low altitude of 1.2 meters.

Original languageEnglish
Title of host publicationInternational Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007
Pages488-494
Number of pages7
DOIs
Publication statusPublished - 2007 Oct 1
EventInternational Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007 - Tokyo, Japan
Duration: 2007 Apr 172007 Apr 20

Publication series

NameInternational Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007

Conference

ConferenceInternational Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007
CountryJapan
CityTokyo
Period07/4/1707/4/20

ASJC Scopus subject areas

  • Mechanical Engineering
  • Ocean Engineering
  • Water Science and Technology

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