Autonomous underwater vehicle navigation scheme for cable following

Author

Balasuriya, Arjuna ; Ura, Tamaki

Author_Institution

Nanyang Technol. Univ., Singapore

fYear

2001

fDate

2001

Firstpage

519

Lastpage

524

Abstract

A navigation scheme for autonomous underwater vehicles (AUVs) following underwater cables is presented. The objective in following the cable is to capture a video of the cable for inspection purposes. Two main practical difficulties arising in using optical images for navigation are considered and a sensor fusion scheme is proposed to overcome these problems. The paper presents experimental results obtained by implementing this algorithm in the AUV, called ´Twin-Burger 2´. Field tests were carried out in testing tanks as well as in lake waters. The results indicates that the proposed navigation scheme could handle the two practical problems and achieve cable following

Keywords

CCD image sensors; inspection; mobile robots; navigation; path planning; position control; robot vision; sensor fusion; submarine cables; underwater vehicles; Twin-Burger 2; autonomous underwater vehicle; cable following; inspection; navigation scheme; optical images; sensor fusion scheme; underwater cables; Charge coupled devices; Charge-coupled image sensors; Communication cables; Inspection; Navigation; Optical sensors; Remotely operated vehicles; Testing; Underwater cables; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Transportation Systems, 2001. Proceedings. 2001 IEEE

Conference_Location

Oakland, CA

Print_ISBN

0-7803-7194-1

Type

conf

DOI

10.1109/ITSC.2001.948712

Filename

948712