Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2014 · 10 citations · 12 references
EngineeringAutonomous SystemsOcean EngineeringAutonomous VehiclesMarine RoboticsUnderwater RoboticsAcoustic SensingAcoustic TrackingAutonomous Underwater VehiclesMarine Robot ControlSonar SystemsUnderwater NavigationAcoustic Doppler Current ProfilersAcoustic Doppler Current ProfilingAutonomous Underwater Vehicle ControlAutonomous Underwater Vehicle NavigationAutonomous Underwater Vehicle SystemsNavigationPipelinesUnderwater Vehicle Navigation
This paper details the development of an autonomous motion-control and navigation algorithm for an underwater autonomous vehicle, the Ocean Server IVER3, to track long linear features such as underwater pipelines. As part of this work, the Nonlinear and Autonomous Systems Laboratory (NAS Lab) developed an algorithm that utilizes inputs from the vehicles state of the art sensor package, which includes digital imaging, digital 3-D Sidescan Sonar, and Acoustic Doppler Current Profilers. The resulting algorithms should tolerate real-world waterway with episodic strong currents, low visibility, high sediment content, and a variety of small and large vessel traffic.
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Imaging sonar-aided navigation for autonomous underwater harbor surveillance
Hordur Johannsson, Michael Kaess, Brendan Englot et al. · 2010 · 185 citations · Full text
Concurrent mapping and localization using sidescan sonar
Idoia Ruiz, S. de Raucourt, Yvan Pétillot et al. · IEEE Journal of Oceanic Engineering · 2004 · 139 citations