Title :
Sonar aided navigation and control of small UUVs
Author :
Ðula Nađ;Nikola Mišković;Vladimir Djapic;Zoran Vukić
Author_Institution :
University of Zagreb, Faculty of Electrical Engineering and Computing, LabUST - Laboratory for Underwater Systems and Technologies Unska 3, Croatia
fDate :
6/1/2011 12:00:00 AM
Abstract :
This paper addresses the problem of guiding a simple unmanned underwater vehicle (UUV) from a more capable, sonar equipped, platform, preferably an autonomous underwater or surface vessel (AxV). One application of this concept, considered in this article, is autonomous mine neutralization and disposal. First, a sonar equipped AxV acquires a possible target in the sonar image. Once the target location is known, an expendable UUV is released. The UUV position is determined from sonar imagery onboard the AxV. This minimal information is sent to the UUV via acoustic link so that it can converge towards the desired target. With this approach, complex and expensive sensors are removed from the expendable vehicle, which now becomes a simple actuation system that carries the neutralization payload, and this in turn greatly increases cost efficiency. Although we review the concept in the domain of mine countermeasures (MCM) it is applicable to other problems where navigation aiding between platforms is beneficial. This paper focuses on preliminary results obtained in numerous pool and field experiments during different phases of system development.
Keywords :
"Sonar navigation","Sonar measurements","Sensors","Acoustics","Vehicles","Mathematical model"
Conference_Titel :
Control & Automation (MED), 2011 19th Mediterranean Conference on
Print_ISBN :
978-1-4577-0124-5
DOI :
10.1109/MED.2011.5983073