There is a great demand for AUV (Autonomous Underwater Vehicles) to investigate artificial underwater structures such as piles and caissons in harbours, and risers and jackets of deep-sea oilfields. An autonomous investigation method is proposed for underwater structures using AUVs that is implemented by initially detecting the target objects, localizing them, then approaching them by taking video images while closely tracing their shape. A laser ranging system and a navigation method based on the relative position with respect to the target objects are introduced to realize this behavior.


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    Titel :

    Navigation of an AUV for investigation of underwater structures


    Weitere Titelangaben:

    Navigation eines Unterwasserfahrzeuges für die Untersuchung von Unterwasserstrukturen


    Beteiligte:
    Kondo, Hayato (Autor:in) / Ura, Tamaki (Autor:in)

    Erschienen in:

    Control Engineering Practice ; 12 , 12 ; 1551-1559


    Erscheinungsdatum :

    2004


    Format / Umfang :

    9 Seiten, 24 Bilder, 1 Tabelle, 9 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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