Title :
Navigation of autonomous underwater vehicles based on artificial underwater landmarks
Author :
Yu, Son-Cheol ; Ura, Tamaki ; Fujii, Teruo ; Kondo, Hayato
Author_Institution :
Inst. of Ind. Sci., Univ. of Tokyo, Japan
Abstract :
Near underwater structures or the surface of shallow water, acoustic sensing based navigation of autonomous underwater vehicles (AUVs) suffers from inaccurate positioning which is caused by acoustic sensing such as multi-pass and noisy data. In the paper a new underwater navigation method for AUVs is proposed based on artificial underwater landmarks which are recognized by a vision system implemented in the robot. An underwater image processing strategy and an underwater vision environment analysis method are introduced to improve reliability of the underwater vision system. Experiments were carried out to demonstrate the efficiency of the proposed navigation method of AUVs
Keywords :
image colour analysis; mobile robots; navigation; object recognition; path planning; position control; reliability; remotely operated vehicles; robot vision; underwater vehicles; AUVs; artificial underwater landmarks; autonomous underwater vehicles; navigation; reliability; underwater image processing strategy; underwater vision environment analysis method; vision system; Acoustic noise; Image processing; Machine vision; Navigation; Robot sensing systems; Robot vision systems; Underwater acoustics; Underwater structures; Underwater vehicles; Working environment noise;
Conference_Titel :
OCEANS, 2001. MTS/IEEE Conference and Exhibition
Conference_Location :
Honolulu, HI
Print_ISBN :
0-933957-28-9
DOI :
10.1109/OCEANS.2001.968760
