2003 · 10 citations · 0 references
EngineeringAutonomous SystemsOcean EngineeringAutonomous VehiclesRoboticsUnderwater RoboticsAutonomous NavigationAutonomous Underwater VehiclesSea Ice PhysicsSea Ice StudiesUnderwater NavigationUnderwater Vehicle DesignAutonomous Underwater Vehicle ControlAutonomous Underwater Vehicle NavigationAutonomous Underwater Vehicle OperationsAutonomous Underwater Vehicle SurveysAutonomous Underwater Vehicle SystemsAutonomous Vehicle ControlUnderwater Vehicle ControlUnderwater Vehicle Navigation
The autonomous underwater vehicle (AUV) Autosub II is presently engaged on a three-year science programme to carry out surveys under Arctic and Antarctic floating ice shelves and sea ice. This under ice mode of operation necessitates a review of how the vehicle control and navigation operate to account for ice cover, inaccessibility during the mission and get home strategies in the event of sub system failure. The paper reports on lessons learnt during an Antarctic campaign in 2001, subsequent development work and proving trials in waters off the UK.