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
    EventInternational Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007 - Tokyo
    Duration: 2007 Apr 172007 Apr 20

    Other

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

    Fingerprint

    Autonomous underwater vehicles
    autonomous underwater vehicle
    seafloor
    Hazards
    Sensors
    sensor
    Navigation
    Lawn mowers
    navigation
    Trajectories
    trajectory
    Experiments
    hazard area
    method
    experiment

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Ocean Engineering
    • Water Science and Technology

    Cite this

    Maki, T., Ura, T., Mizushima, H., Kondo, H., Sakamaki, T., & Yanagisawa, M. (2007). Low altitude tracking of rugged seafloors for autonomous visual observation. In International Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007 (pp. 488-494). [4231101] https://doi.org/10.1109/UT.2007.370771

    Low altitude tracking of rugged seafloors for autonomous visual observation. / Maki, Toshihiro; Ura, Tamaki; Mizushima, Hayato; Kondo, Hayato; Sakamaki, Takashi; Yanagisawa, Masao.

    International Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007. 2007. p. 488-494 4231101.

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

    Maki, T, Ura, T, Mizushima, H, Kondo, H, Sakamaki, T & Yanagisawa, M 2007, Low altitude tracking of rugged seafloors for autonomous visual observation. in International Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007., 4231101, pp. 488-494, International Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007, Tokyo, 07/4/17. https://doi.org/10.1109/UT.2007.370771
    Maki T, Ura T, Mizushima H, Kondo H, Sakamaki T, Yanagisawa M. Low altitude tracking of rugged seafloors for autonomous visual observation. In International Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007. 2007. p. 488-494. 4231101 https://doi.org/10.1109/UT.2007.370771
    Maki, Toshihiro ; Ura, Tamaki ; Mizushima, Hayato ; Kondo, Hayato ; Sakamaki, Takashi ; Yanagisawa, Masao. / Low altitude tracking of rugged seafloors for autonomous visual observation. International Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007. 2007. pp. 488-494
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