Intervention AUV

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

Cooperative formation control of autonomous underwater vehicles: An overview

Abstract: Formation control is a cooperative control concept in which multiple autonomous underwater mobile robots are deployed for a group motion and/or control mission. This paper presents a brief review on various cooperative search and formation control strategies for multiple autonomous underwater vehicles (AUV) based on literature reported till date. Various cooperative and formation control schemes for collecting huge amount of data based on formation regulation control and formation tracking control are discussed. To address the challenge of detecting AUV failure in the fleet, communication issues, collision and obstacle avoidance are also taken into attention. Stability analysis of the feasible formation is also presented. This paper may be intended to serve as a convenient reference for the further research on formation control of multiple underwater mobile robots.

Underwater gliders: recent developments and future applications

Abstract: Autonomous underwater vehicles, and in particular autonomous underwater gliders, represent a rapidly maturing technology with a large cost-saving potential over current ocean sampling technologies for sustained (month at a time) real-time measurements. We give an overview of the main building blocks of an underwater glider system for propulsion, control, communication and sensing. A typical glider operation, consisting of deployment, planning, monitoring and recovery are described using the 2003 AOSN-II field experiment in Monterey Bay, California. We briefly describe the recent developments at NRC-IOT, in particular, the development of a laboratory-scale glider for dynamics and control research and the concept of a regional ocean observation system using underwater gliders.

Experiments in the Coordinated Control of an Underwater Arm/Vehicle System

Abstract: The addition of manipulators to small autonomous underwater vehicles (AUVs) can pose significant control challenges due to hydrodynamic interactions between the arm and the vehicle. Experiments conducted at the Monterey Bay Aquarium Research Institute (MBARI) using the OTTER vehicle have shown that dynamical interactions between an arm and a vehicle can be very significant. For the experiments reported in this paper, a single-link “arm” was mounted on OTTER. Tests showed that for 90-degree, two-second repetitive slews of the arm, the vehicle would move as much as 18 degrees in roll and 14 degrees in yaw when no vehicle control was applied.

Coordinated Navigation of Surface and Underwater Marine Robotic Vehicles for Ocean Sampling and Environmental Monitoring

Abstract: Water pollution generated by accidental spill of hazardous materials is a growing problem worldwide. There is an urgent need for a tool that would help environmental response teams perform rapid understanding of the location and the extent of the spill to effectively establish an appropriate response. This paper presents a cooperative robotic system for environmental monitoring consisting of an autonomous underwater vehicle (AUV) and an autonomous unmanned surface vehicle (USV). The main contributions of the paper are a systematic description of the design and implementation of the proposed cooperative robotic system, a novel human-on-the-loop (HOTL) approach applied on the system for environmental monitoring, and demonstration of the results of the open-sea experiments on pollution deliberately caused by harmless Rhodamine water tracing (WT), carried out in Cartagena, Spain, in June 2015. The proposed HOTL system provides near real-time pollution measurement data, while not consuming a significant amount of human time and effort. It supports decision-making and allows the operator to initiate the most adequate mission in a current situation, i.e., ensures mission change on-the-fly. While the AUV samples the ocean, the USV maintains the localization and communication data transfer to the control center and corrects the AUV's dead reckoning error.