Title :
Development of P-SURO II hybrid AUV and its experimental study
Author :
Li, J.H. ; Lee, M.J. ; Park, Sang Ho ; Kim, J.G. ; Kim, Jin Tae ; Suh, J.H.
Author_Institution :
Appl. Technol. Div., Korea Inst. of Robot & Convergence, Pohang, South Korea
Abstract :
P-SURO II is a hybrid AUV which can be operated in both of ROV and AUV modes. The AUV mode is supposed to carry out some of underwater missions which are difficult to be accomplished by ROV mode due to its tether cable. To complete the underwater missions such as inspection and maintenance of complex structures in AUV mode, the vehicle is required to have high level of autonomy including obstacle avoidance, autonomous navigation, and so on. In this paper, we will discuss some of systematic and algorithmic issues in the development of such kind hybrid vehicles. Experimental studies on the development of underwater hybrid inertial navigation system and SLAM (simultaneous localization and mapping) method in a certain water tank environment are also discussed.
Keywords :
SLAM (robots); autonomous underwater vehicles; collision avoidance; robot vision; AUV mode; P-SURO II hybrid AUV development; ROV mode; SLAM method; autonomous navigation; autonomous underwater vehicle; obstacle avoidance; remotely operated vehicle; simultaneous localization and mapping method; underwater hybrid inertial navigation system; underwater missions; water tank environment; Inertial navigation; Simultaneous localization and mapping; Sonar measurements; Storage tanks; Vehicles; SLAM; hybrid AUV; obstacle avoidance; path planning; underwater localization;
Conference_Titel :
OCEANS - Bergen, 2013 MTS/IEEE
Conference_Location :
Bergen
Print_ISBN :
978-1-4799-0000-8
DOI :
10.1109/OCEANS-Bergen.2013.6608045
