Low altitude tracking of rugged seafloors for autonomous visual observation

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

*この研究の対応する著者

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルInternational Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007
ページ488-494
ページ数7
DOI
出版ステータスPublished - 2007 10月 1
イベントInternational Symposium on Underwater Technology, UT 2007 - International Workshop on Scientific Use of Submarine Cables and Related Technologies 2007 - Tokyo, Japan
継続期間: 2007 4月 172007 4月 20

出版物シリーズ

名前International 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
国/地域Japan
CityTokyo
Period07/4/1707/4/20

ASJC Scopus subject areas

  • 機械工学
  • 海洋工学
  • 水の科学と技術

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