This paper presents a sensor fusion scheme for following underwater cables by autonomous underwater vehicles (AUVs). The two main practical problems encountered in cable following are considered; 1) navigation of AUV when cable is invisible in the image, and 2) selection of the correct cable (interested feature) when there are many similar features appearing in the image. The proposed sensor fusion scheme uses dead-reckoning position uncertainty with a 2D position model of the cable to predict the region of interest in the image. This reduces the image processing data increasing the processing speed and avoids tracking other similar features appearing in the image. The proposed method uses a 2D position model of the cable for AUV navigation when the cable features are invisible in the predicted region. An experiment is conducted to test the performance of the proposed system using the AUV 'Twin-Burger 2'. The experimental results presented in this paper show how the proposed method handles the above-mentioned practical problems.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    On-board sensor fusion scheme for autonomus underwater vehicle navigation in submarine cable inspection


    Weitere Titelangaben:

    Bord-Sensorfusions-Schema für die Navigation autonomer Unterwasserfahrzeuge zur Inspektion von Unterwasserkabeln


    Beteiligte:
    Balasuriya, A. (Autor:in) / Ura, T. (Autor:in)


    Erscheinungsdatum :

    2001


    Format / Umfang :

    6 Seiten, 16 Bilder, 1 Tabelle, 6 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    AUTONOMUS DREDGING UNDERWATER DEVICE

    NOVAS ROSALES JUAN JOSE / DOPICO MARTINEZ ALBERTO / DURAN NEIRA CARLOS et al. | Europäisches Patentamt | 2018

    Freier Zugriff

    Portable submarine cable inspection unmanned underwater vehicle

    LIU KAIFENG / YUAN JINXI / FANG HAO et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Wireless Power Transfer in Autonomus Underwater Vehicles

    Bobba, Phaneendra Babu / Rao, R Karthik / Chinthamaneni, Sai Surya Vidul | IEEE | 2022


    Behavioral planning in autonomus vehicle

    RESHEF ROI | Europäisches Patentamt | 2024

    Freier Zugriff

    Autonomous Underwater Vehicle navigation Scheme for Cable Following

    Balasuriya, A. / Ura, T. / IEEE | British Library Conference Proceedings | 2001