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Autonomous Surface Vehicles (ASVs) rely on two layers of guidance for effective path planning: global and local methods. Global methods require a macroscopic view of the mission's goals in order to efficiently navigate an environment. For this research, different global path planner algorithms are explored both in simulation and in field tests to observe path planner qualities for modularity, practicality,...
When autonomous surface vessels conduct systematic seafloor surveying using a swath sonar system, the fixed angular coverage leads to differing horizontal coverage width with depth. Traditionally, missions have been pre-planned using fixed line spacing accounting for the minimum expected depth or with the intention of leaving gaps in some areas. A path planning algorithm and accompanying behaviors...
Designs for an optical sensor detector array for use in autonomous control of unmanned underwater vehicles (UUVs), or between UUVs and docking station, are studied in this paper. Here, various optical detector arrays are designed for the purpose of determining and distinguishing relative 5 degrees-of-freedom (DOF) motion between UUVs: 3-DOF translation and 2-DOF rotation (pitch and yaw). In this paper,...
This paper proposes pose detection and control algorithms in order to control the relative pose between two Unmanned Underwater Vehicles (UUVs) using optical feedback. The leader UUV is configured to have a light source at its crest which acts as a guiding beacon for the follower UUV which has a detector array at its bow. Pose detection algorithms are developed based on a classifier, such as the Spectral...
The use of a light source as a beacon is advantageous for the guidance and control of Unmanned Underwater Vehicles (UUVs). This approach allows a follower UUV to determine its relative pose (position and orientation) using low-cost commercial off the shelf (COTS) hardware (e.g., metal halide light sources). In order to design an effective detector unit for the follower UUV and predict its performance,...
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