Low-Altitude and High-Speed Terrain Tracking Method for Lightweight AUVs

被引:16
|
作者
Maki, Toshihiro [1 ]
Noguchi, Yukiyasu [1 ]
Kuranaga, Yoshinori [1 ]
Masuda, Kotohiro [1 ]
Sakamaki, Takashi [1 ]
Humblet, Marc [2 ]
Furushima, Yasuo [3 ]
机构
[1] Univ Tokyo, Inst Ind Sci, Meguro Ku, 4-6-1 Komaba, Tokyo 1538505, Japan
[2] Nagoya Univ, Dept Earth & Planetary Sci, Chikusa Ku, Nagoya, Aichi 4648601, Japan
[3] Japan Agcy Marine Earth Sci & Technol, 2-15 Natsushima, Yokosuka, Kanagawa 2370061, Japan
关键词
autonomous underwater vehicle (AUV); seafloor observation; scanning sonar; path planning; obstacle avoidance;
D O I
10.20965/jrm.2018.p0971
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This paper proposes a new method for cruising-type autonomous underwater vehicles (AUVs) to track rough seafloors at low altitudes while also maintaining a high surge velocity. Low altitudes are required for visual observation of the seafloor. The operation of AUVs at low altitudes and high surge velocities permits rapid seafloor imaging over a wide area. This method works without high-grade sensors, such as inertial navigation systems (INS), Doppler velocity logs (DVL), or multi-beam sonars, and it can be implemented in lightweight AUVs. The seafloor position is estimated based on a reflection intensity map defined on a vertical plane, using measurements from scanning sonar and basic sensors of depth, attitude, and surge velocity. Then, based on the potential method, a reference pitch angle is generated that allows the AUV to follow the seafloor at a constant altitude. This method was implemented in the AUV HATTORI, and a series of sea experiments were carried out to evaluate its performance. HATTORI (Highly Agile Terrain Tracker for Ocean Research and Investigation) is a lightweight and low-cost testbed designed for rapid and efficient imaging of rugged seafloors, such as those containing coral reefs. The vehicle succeeded in following a rocky terrain at an altitude of approximately 2 m with a surge velocity of approximately 0.8 m/s. This paper also presents the results of sea trials conducted at Ishigaki Island in 2017, where the vehicle succeeded in surveying the irregular, coral-covered seafloor.
引用
收藏
页码:971 / 979
页数:9
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