Real time path-planning of an AUV based on characteristics of passive acoustic landmarks for visual mapping of shallow vent fields

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

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

    17 Citations (Scopus)

    Abstract

    Although underwater vent fields are of great scientific interest, accurate visual mapping is difficult because of the presence of bubble plumes that degrade the accuracy of conventional acoustic positioning systems such as Long Base Line (LBL) and Super Short Base Line (SSBL). The authors had proposed a visual mapping method of shallow vent fields with an autonomous underwater vehicle (AUV) equipped with a profiling sonar, where positioning is based on vertical rod-shaped acoustic reflectors and bubble plumes. Although performance was verified through a series of experiments, there remain two challenges as follows. Firstly, observation is terminated if the vehicle was surrounded by bubble plumes, since the vehicle tries to avoid collision with not only artificial reflectors but also collision-safe bubble plumes. Secondly, the observation area drifts by disturbance since the waypoints are defined relative to the vehicle's position after descending close to seafloor. This paper proposes a real-time path planning method of an AUV as a part of the proposed observation method. The path of the vehicle is defined based on the types of landmarks as well as the geometric relationship between the vehicle and the landmarks. The vehicle can distinguish landmark types using a sheet laser and a camera. The proposed method was implemented on the AUV Tri-Dog 1 and a series of experiments were carried out in order to verify its performance.

    Original languageEnglish
    Title of host publicationOceans Conference Record (IEEE)
    DOIs
    Publication statusPublished - 2007
    EventOceans 2007 MTS/IEEE Conference - Vancouver, BC
    Duration: 2007 Sep 292007 Oct 4

    Other

    OtherOceans 2007 MTS/IEEE Conference
    CityVancouver, BC
    Period07/9/2907/10/4

    Fingerprint

    autonomous underwater vehicle
    acoustics
    bubble
    plume
    collision
    planning method
    positioning system
    mapping method
    sonar
    positioning
    vehicle
    planning
    seafloor
    experiment
    laser
    disturbance

    ASJC Scopus subject areas

    • Oceanography

    Cite this

    Real time path-planning of an AUV based on characteristics of passive acoustic landmarks for visual mapping of shallow vent fields. / Maki, Toshihiro; Mizushima, Hayato; Kondo, Hayato; Ura, Tamaki; Sakamaki, Takashi; Yanagisawa, Masao.

    Oceans Conference Record (IEEE). 2007. 4449321.

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

    Maki, T, Mizushima, H, Kondo, H, Ura, T, Sakamaki, T & Yanagisawa, M 2007, Real time path-planning of an AUV based on characteristics of passive acoustic landmarks for visual mapping of shallow vent fields. in Oceans Conference Record (IEEE)., 4449321, Oceans 2007 MTS/IEEE Conference, Vancouver, BC, 07/9/29. https://doi.org/10.1109/OCEANS.2007.4449321
    Maki, Toshihiro ; Mizushima, Hayato ; Kondo, Hayato ; Ura, Tamaki ; Sakamaki, Takashi ; Yanagisawa, Masao. / Real time path-planning of an AUV based on characteristics of passive acoustic landmarks for visual mapping of shallow vent fields. Oceans Conference Record (IEEE). 2007.
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