Intervention AUV

About: Intervention AUV is a research topic. Over the lifetime, 980 publications have been published within this topic receiving 14130 citations.

Visual servoing for underwater docking of an autonomous underwater vehicle with one camera

Abstract: Docking systems are required to increase the capability of autonomous underwater vehicles (AUVs) to recharge the batteries and to transmit data in real time in underwater. This paper presents a docking system for an AUV to dock into an underwater station with one camera installed at the nose center of the AUV. To make a visual servo controller, this paper presents an optimal control algorithm based on a state equation composed of the AUV dynamics and the optical flow equation. The control inputs of the AUV are generated with the projected target position on the CCD plane of the camera and with the AUVs motion. This paper introduces a test bed AUV for underwater docking developed in Korea Research Institute of Ships and Ocean Engineering (KRISO), KORDI of Korea. The AUV is propelled with one thruster and controlled with two horizontal planes and two vertical planes. Experiments will be performed in Ocean Engineering Basin of KRISO to demonstrate the effectiveness of the modeling and control law of the visual servoing AUV. The AUV identifies target position with processing the captured image of the lights mounted around the entrance of the dock. This paper also presents a strategy to identifier the target with lights arrays.

Marine heterogeneous multirobot systems at the great Eastern Japan Tsunami recovery

Abstract: This field report describes two deployments of heterogeneous unmanned marine vehicle teams at the 2011 Great Eastern Japan Earthquake response and recovery by the Center for Robot-Assisted Search and Rescue (USA) in collaboration with the International Rescue System Institute (Japan). Four remotely operated underwater vehicles (ROVs) were fielded in Minamisanriku and Rikuzentakata from April 18 to 24, 2011, for port clearing and victim recovery missions using sonar and video. The ROVs were used for multirobot operations only 46% of the time due to logistics. The teleoperated ROVs functioned as a dependent team 86% of the time to avoid sensor interference or collisions. The deployment successfully reopened the Minamisanriku New Port area and searched areas prohibited to divers in Rikuzentakata. The IRS-CRASAR team planned to return from October 18 to 28, 2011, with an unmanned aerial vehicle (UAV), an autonomous underwater vehicle (AUV), and an ROV to conduct debris mapping for environmental remediation missions. The intent was to investigate an interdependent strategy by which the UAV and AUV would rapidly conduct low-resolution scans identifying areas of interest for further investigation by the ROV. The UAV and AUV could not be used; however, the ROV was able to cover 80,000 m2 in 6 h, finding submerged wreckage and pollutants in areas previously marked clear by divers. The field work (i) showed that the actual and planned multirobot system configurations did not fall neatly into traditional taxonomies, (ii) identified a new measure, namely perceptual confidence, and (iii) posed five open research questions for multirobot systems operating in littoral regions. © 2012 Wiley Periodicals, Inc. © 2012 Wiley Periodicals, Inc.

AUV Control and Communication using Underwater Acoustic Networks

Abstract: Underwater acoustic networks can be quite effective to establish communication links between autonomous underwater vehicles (AUVs) and other vehicles or control units, enabling complex vehicle applications and control scenarios. A communications and control framework to support the use of underwater acoustic networks and sample application scenarios are described for single and multi-AUV operation.