Intervention AUV

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

Development of the control architecture of an underwater cable tracker

Abstract: Nowadays, the surveillance and inspection of underwater installations, such as power or telecommunication cables and pipelines, are carried out by trained operators who, from the surface, control a Remotely Operated Vehicle (ROV) with cameras mounted over it. This is a tedious, time-consuming, and expensive task, prone to errors mainly because of loss of attention or fatigue of the operator and also due to the typical low quality of seabed images. In this article, a reactive control architecture for visually guiding an Autonomous Underwater Vehicle (AUV) to detect and track a cable, or pipeline, laid on the seabed is presented together with a set of experimental results. Such results were obtained by using a three-dimensional simulation environment that incorporates the hydrodynamic model of a real underwater vehicle called GARBI. Additionally, a rapidly convergent off-line tuning method based on evolutionary theory is proposed and discussed.

Precision Hybrid Inertial/Acoustic Navigation System for a Long‐Range Autonomous Underwater Vehicle

Abstract: The Canadian Department of National Defence has developed an autonomous underwater vehicle (AUV) capable of performing long-range missions in ice-covered waters. Autonomous operations in such an extreme environment, where a priori knowledge of the bathymetry is frequently limited, requires a navigation system that is precise, reliable, and repeatable. A hybrid navigation system has been developed that provides precise navigation by combining data from two different types of sensors—inertial and acoustic. This navigation system has been integrated into a large AUV, and for mission lengths of up to 200 km has demonstrated horizontal navigational accuracies of better than 0.05 percent of distance traveled. This paper describes the AUV and its mission, the specific navigation sensors selected, and how the overall navigation solution is mechanized. It also describes the behavior of the navigation system during field experiments and during a successful long-range under-ice mission in the High Arctic.

Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle

Abstract: : As the Navy continues its development of unmanned underwater vehicles, the need for total autonomous missions grows Autonomous Underwater Vehicles (AUV) allow for advances in mine warfare, harbor reconnaissance, undersea warfare and more Information can be collected from AUVs and downloaded into a ship or battle group's network As AUVs are developed it is clear forward-look sonar will be required to be able to detect obstacles in front of its search path Common obstacles in the littoral environment include reefs and seawalls which an AUV will need to rise above to pass This thesis examines the behavior and control system required for an AUV to maneuver over an obstacle in the vertical plane Hydrodynamic modeling of a REMUS vehicle enables a series of equations of motion to be developed to be used in conjunction with a sliding mode controller to control the elevation of the AUV A two-dimensional, 24 deg vertical scan forward look sonar with a range of 100 m is modeled for obstacle detection Sonar mappings from geographic range-bearing coordinates are developed for use in MATLAB simulations The sonar 'image' of the vertical obstacle allows for an increasing altitude command that forces the AUV to pass safely over the obstacles at a reasonable rate of ascent and pitch angle Once the AUV has passed over the obstacle, the vehicle returns to its regular search altitude This controller is simulated over different types of obstacles