Navigation of an AUV for investigation of underwater structures

被引：68

作者：

Kondo, H

Ura, T

机构：

[1] Tokyo Inst Marine Sci & Technol, Koto Ku, Tokyo 1358533, Japan

[2] Univ Tokyo, Inst Ind Sci, Meguro Ku, Tokyo 1538505, Japan

来源：

CONTROL ENGINEERING PRACTICE | 2004年 / 12卷 / 12期

基金：

日本学术振兴会;

关键词：

marine systems; autonomous vehicles; obstacle detection; robot navigation; robot vision;

D O I：

10.1016/j.conengprac.2003.12.005

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

There is a great demand for autonomous underwater vehicles (AUVs) to investigate artificial underwater structures such as piles and caissons in harbours, and risers and jackets of deep-sea oilfields. This paper proposes an autonomous investigation method of 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 behaviour. (C) 2004 Elsevier Ltd. All rights reserved.

引用

页码：1551 / 1559

页数：9

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