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Automation using sensor based target recognition increases efficiency for underwater intervention, but may cause a problem to violate the kinematic limitations of the manipulators. In the paper, the kinematic solution based on the weighted damped least squares is investigated to overcome the limitations: workspace limit and singularity, unintended changes of the robot configurations, and joint limits...
This paper proposes a 3D path tracking method for a class of torpedo-type AUVs (autonomous underwater vehicles) with general form of dynamics. For this kind of AUV, there are only three control inputs are available for its 6DOF 3D motion, and therefore it's a typical underactuated system. First, we introduce certain two spherical coordinate transformations so as to transform the vehicle model into...
For underwater control and localization of an unmanned underwater vehicle (UUV), we have used vision information of a suggested pattern image. The pattern is based on suggested criteria. From the pattern specialized on direction information we extracted directional lines and had done Double Hough Transform (DHT) method on them. Once Hough Transform (HT) is usually done for extracting lines from an...
This paper considers the initial alignment problem for underwater robot's strapdown inertial navigation system. In general, initial alignment can be roughly divided into three types; coarse alignment, gyro compassing, and aided alignment. For underwater robot, gyro compassing is not suitable for its initialization, since it is difficult to accurately rotate the robot platform in the water. In this...
Abstmct-This paper presents a kind of real time obstacle detection method for underwater vehicles equipped with 2D forward looking sonar. Due to frequent failure or multipath effects, it is very often uneasy to get satisfactory sonar range measurements, especially in the water tank environment. How to extract as accurate as possible environmental information from these sonar raw (noisy) measurements...
For autonomy of unmanned underwater vehicles(UUV) around a Jacket underwater structure, we introduce a path planning algorithm for 3D costal navigation under the sea, and we also show some positional information sources on a Jacket underwater structure. With a 3D Jacket structure model and a UUV model we had simulation experiments for the coastal navigation using our proposed algorithm. The experimental...
Like coastal navigation, which keeps distance from coast for knowing the ship's position, we consider features on an underwater Jacket structure for safer and more reliable autonomous navigation. The features would be useful information for autonomous navigation as well as localization of hovering-type AUVs (H-AUVs), which inspect an underwater Jacket structure. Based on the feature information, we...
For automating the monitoring works of a Remotely Operated Underwater Vehicle (ROV), we developed a path planning algorithm, which generates a efficient monitoring path for a semi-autonomous ROV. Firstly we categorized five typed sensor information in 2D Euclidean space, and defined the certainty for the sensor information and its space. Moreover, we defined the reliability function for comparing...
In this paper, we describe the research progress about the path planning for AUVs in underwater space. Considering the importance of water current for underwater movement, we modeled a pillar of a sea wide-bridge and an AUV, P-SURO II, and then simulated and confirm the distorted water current around them, using OpenFOAM CFD tool.
In this paper, we present a range sonar array based SLAM method for P-SURO AUV which is a test-bed for developing various underwater technologies. The vehicle's operating environment is a 12(L)x8(W)x6(D)m dimensional cuboid basin and its wall information is assumed to be known in priori. With this information, we propose an EKF (Extended Kalman Filter) SLAM method for the vehicle's operation in the...
This paper presents a path planning scheme for a class of torpedo-type AUVs in unknown environments. Consider the case where an underactuated vehicle (similar to a carlike robot) is travelling in completely unknown environments. In this case, due to deficiency of necessary information, quite number of graph generation and corresponding graph searching methods cannot be directly applicable. In this...
P-SURO is a prototype autonomous underwater vehicle (AUV), which is under development as a test-bed for developing underwater technologies such as underwater vision, underwater navigation, and guidance. This vehicle is a hovering type with four thrusters mounted to steer its 6DOF underwater motion, a color camera is mounted at the vehicle's nose for underwater vision, and an AHRS combined with one...
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