A system of small AUVs interlinked with a smart cable for inspection of underwater structures

被引：0

作者：

Yu, SC ^{[1
]}

Ura, T ^{[1
]}

机构：

[1] Univ Hawaii, Autonomous Syst Lab, Honolulu, HI 96822 USA

来源：

PROCEEDINGS OF THE FOURTEENTH (2004) INTERNATIONAL OFFSHORE AND POLAR ENGINEERING CONFERENCE, VOL 2 | 2004年

关键词：

multi; AUV; automatic; rapid; inspection; cable;

D O I：

暂无

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

In this paper we present the concept of a multi-AUV system interconnected by a smart cable that contains 3D positioning sensors for rapid inspection of large underwater structures in a limited mission timeframe. The smart cable provides not only the position of the end-points (AUV locations) but also its own shape in real-time, while also acting as a communication link between AUVs. Using this cable, we propose a Hand-in-hand System(HS) for AUV localization and development of an obstacle avoidance strategy to accomplish the given task. For applying the smart cable underwater, versatile tank tests and field experiments were carried out to demonstrate and confirm the efficiency of the proposed system.

引用

页码：222 / 229

页数：8

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