1 research outputs found
AUV/ASC cooperative survey
In this paper we describe a solution to perform autonomous surveys taking
advantage of a cooperative multivehicle setup. In the proposed configuration,
an ASC provides –through an USBL- absolute positioning and communications to
an AUV. Thus, by following the AUV with the surface vehicle we facilitate the reception
of USBL measurements in the AUV regardless of the extent of the mission. This
turns into an improved navigation on the AUV’s side, with the drift bounded thanks
to the absolute measurements. Experimental results show that the proposed algorithm
is able to maintain the ASC at a close distance and improve the navigation of
the AUV. Moreover, the bathymetric maps built from the AUV data are consistent
enough to enable the automatic detection of present targets and program further
localized missions in the area.Peer Reviewe