Abstract
This study presents the redesign of an existing autonomous underwater vehicle (AUV) with limited maneuverability, transforming it into a platform optimized for autonomous, near-seabed visual imaging missions. This work describes the enhancement of the AUV’s maneuverability through the addition of thrusters, the leveraging of a state-of-the-art thrust allocation algorithm, and the development of both a path-following controller and a dedicated imaging system. The performance of the optimized platform is demonstrated in a simulation and in actual real sea visual survey missions.
Funder
Leona M. and Harry B. Helmsley Charitable Trust
The Maurice Hatter Foundation
Subject
Ocean Engineering,Water Science and Technology,Civil and Structural Engineering
Reference46 articles.
1. A simple, fast, and repeatable survey method for underwater visual 3D benthic mapping and monitoring
2. Evaluating the SeaBED AUV for monitoring groundfish in untrawlable habitat;Tolimieri,2008
3. Mapping the Moon: Using a lightweight AUV to survey the site of the 17th century ship ‘La Lune’;Gracias;Proceedings of the 2013 MTS/IEEE OCEANS,2013
4. Flatfish-a compact subsea-resident inspection AUV;Albiez;Proceedings of the OCEANS 2015 MTS/IEEE,2015
5. Online 3D underwater exploration and coverage;Vidal;Proceedings of the 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV),2018
Cited by
9 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献