Techniques for Deep Sea Near Bottom Survey Using an Autonomous Underwater Vehicle

Techniques for Deep Sea Near Bottom Survey Using an Autonomous Underwater Vehicle

This paper reports the development and at-sea deployment of a set of algorithms that have enabled the autonomous underwater vehicle ABE to conduct near-bottom surveys in the deep sea. Algorithms for long baseline acoustic positioning, terrain-following, and automated nested surveys are reported.

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Bibliographische Detailangaben
Veröffentlicht in:The International journal of robotics research 2007-01, Vol.26 (1), p.41-54
Hauptverfasser: Yoerger, Dana R., Jakuba, Michael, Bradley, Albert M., Bingham, Brian
Format: Artikel
Sprache:eng
Schlagworte:
Acoustic surveying
Acoustics
Algorithms
Automated
Autonomous underwater vehicles
Deep sea
Deep sea environments
Discovery and exploration
Evaluation
Hydrothermal vents
Oceanographic instruments
Oceanography
Remote submersibles
Robotics
Terrain following
Underwater exploration
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Beschreibung
Zusammenfassung:This paper reports the development and at-sea deployment of a set of algorithms that have enabled the autonomous underwater vehicle ABE to conduct near-bottom surveys in the deep sea. Algorithms for long baseline acoustic positioning, terrain-following, and automated nested surveys are reported.
ISSN:0278-3649
1741-3176
DOI:10.1177/0278364907073773