NDLI: Seabed following for small autonomous underwater vehicles

Content Provider	IEEE Xplore Digital Library
Author	Creuze, V. Jouvencel, B. Baccou, P.
Copyright Year	2001
Description	Author affiliation: Lab. d'Informatique, de Robotique et de Microelectronique de Montpellier, Univ. Montpellier II, France (Creuze, V.)
Abstract	This paper presents a seabed following method for an under-actuated autonomous underwater vehicle navigating in unknown environment. Seabed following is achieved through construction of a local trajectory calculated thanks to bathymetric data given by basic sounders. Moreover, this trajectory respects the dynamic constraints of the vehicle. It is computed by using an algorithm based on simple geometric functions and interpolation curves called "semi-forced cubic splines." The bathymetric data comes from three electro-acoustic transducers situated in the front part of the vehicle. Our method has been validated with the hydrodynamic simulator of the "Taipan" vehicle, which is the autonomous underwater vehicle prototype of our laboratory. The front part of Taipan is fitted with measurement instruments. They have already been tested and results are presented.
Starting Page	369
Ending Page	374
File Size	802364
Page Count	6
File Format	PDF
ISBN	0933957289
DOI	10.1109/OCEANS.2001.968754
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-11-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Marine Technology Soc.
Subject Keyword	Underwater vehicles Remotely operated vehicles Navigation Vehicle dynamics Interpolation Acoustic transducers Hydrodynamics Computational modeling Mobile robots Virtual prototyping
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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