NDLI: Terrain-adaptive optimal guidance for near-bottom survey by an autonomous underwater vehicle

Content Provider	IEEE Xplore Digital Library
Author	Kangsoo Kim Ura, T.
Copyright Year	2013
Description	Author affiliation: Inst. of Ind. Sci., Univ. of Tokyo, Tokyo, Japan (Kangsoo Kim; Ura, T.)
Abstract	An optimal guidance strategy for an autonomous underwater vehicle dive specified to a near-bottom survey over an uneven seafloor topography is presented. Major objective of the optimal guidance is letting the longitudinal vehicle attitude follow the along-track gradient of the seafloor throughout the near-bottom survey dive. The proposed method derives depth sequence corresponding to waypoints predefined in a horizontal plane, combined set of which defines the 3-dimentional trackline for the optimal near-bottom survey. A supervised learning approach based on gradient descent search algorithm is employed in deriving the optimal depth sequence. Iterative simulations of vehicle's dives driven by the learning algorithm subject to vehicle dynamics and interacting with given seabed topography derive the optimal depth sequence. The bottom gradient-following is an important issue in achieving higher quality sonograph and precise echo-sounding, as well as keeping the reliability of altitudes obtained by an acoustic altimeter. Proposed strategy is applied to near-bottom survey dives performed with a cruising AUV Aqua-Explorer 2000a. Based on the body structure of Aqua-Explorer 2000 originally developed by KDDI for inspecting and monitoring the undersea cables, Aqua-Explorer 2000a was born via full renovation conducted by Institute of Industrial Science, The University of Tokyo.
Sponsorship	Japan Council OE Chapt.
Starting Page	1
Ending Page	8
File Size	3559405
Page Count	8
File Format	PDF
ISBN	9781467359481
e-ISBN	9781467359498
DOI	10.1109/UT.2013.6519847
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-03-05
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Underwater vehicles Sonar Fluctuations Volcanoes Acoustics Vehicle dynamics altitude Optimal guidance autonomous vehicle near-bottom tracking
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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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