NDLI: Observation of breakwaters and their rock mound by AUV "Tri-Dog 1" at Kamaishi Bay

Content Provider	IEEE Xplore Digital Library
Author	Kondo, H. Maki, T. Ura, T. Sakamaki, T.
Copyright Year	2005
Description	Author affiliation: Fac. of Marine Technol., Tokyo Univ. of Marine Sci. & Technol., Japan (Kondo, H.)
Abstract	This paper proposes a navigation method for an Autonomous underwater vehicle (AUV) operating around structures whose major configuration given in advance. The method consists of a state estimator and a motion controller, enabling localization in the configuration map as well as following pregiven waypoints without any external help. The state estimator is based on a "particle filter" where the vehicle's state, horizontal position and heading, is stochastically updated in real time using multisensor data. This method was implemented on the AUV "Tri-Dog 1" and experiments were carried out around breakwater caissons at the mouth of Kamaishi bay, Iwate Prefecture in Japan. This is the first time a vehicle has succeeded in fully autonomous observation around breakwater caissons. Mosaics of the foot protection blocks, rock mound and caisson's surface are made from the observed images based on the estimated state of the AUV, to verify the performance of the method.
Starting Page	585
Ending Page	590
File Size	1161411
Page Count	6
File Format	PDF
ISBN	0780391039
DOI	10.1109/OCEANSE.2005.1511780
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-06-20
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	State estimation Navigation Underwater vehicles Motion estimation Motion control Particle filters Mouth Remotely operated vehicles Mobile robots Foot
Content Type	Text
Resource Type	Article

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