Localization of a fleet of AUVs using visual maps

Botelho, Silvia Silva da Costa; Neves, Renato; Taddei, L

doi:10.1109/oceanse.2005.1513251

Cited by 16 publications

(7 citation statements)

References 5 publications

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“…Current AUVs have the capability to perform missions such as: pipeline inspection (Labbe et al, 2004;Weiss et al, 2003), mine-sweeping , and oceanographic exploration (Botelho et al, 2005;Martins et al, 2003). Proposed missions for the next generation of AUVs require both high quantity and quality temporal and spatial data.…”

Section: Introductionmentioning

confidence: 99%

Numerical investigation of a fleet of towed AUVs

2014

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This paper investigates the influence of the propeller on the drag of twin self-propelled AUVs, firstly, to examine the fleet performance for various propulsive conditions of leading and following AUV and, secondly, to study the parametric influence of transverse separations and longitudinal offsets on the fleet's drag. A series of CFD RANS-SST simulations have been performed at the Reynolds Number 3.2 × 10 6 with a commercial code ANSYS CFX 12.1. Mesh convergence is tested and validated with experimental and empirical results. The RANS-HO and RANS-UT propeller models are selected to estimate the time averaged thrust and torque of the propeller. The results show that the self-propelled vehicles experience an additional drag which is dominated by the thrust distribution of the propeller rather than torque. The drag of the following AUV is increased due to the upstream propeller, defined as a propeller race deduction. For the parametric studies, the results show that increasing the spacing results in a lower drag. The two sources of self-propelled drag increment are the viscous interaction and a direct result of proximity to the propeller race upstream. The result highlights the importance of considering both thrust deduction and any propeller race deductions when calculating the propulsive power consumption.

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Section: Introductionmentioning

confidence: 99%

Numerical investigation of a fleet of towed AUVs

2014

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“…AUVs are capable of a wide range of applications, such as pipeline inspection [1,2], underwater search and rescue, mine-sweeping [3], and oceanographic exploration [4]. The tasks of current AUVs are relatively single, and in the future, AUVs will be able to perform a variety of tasks.…”

Section: Introductionmentioning

confidence: 99%

Layout Optimization of Two Autonomous Underwater Vehicles for Drag Reduction with a Combined CFD and Neural Network Method

et al. 2017

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This paper presents an optimization method for the design of the layout of an autonomous underwater vehicles (AUV) fleet to minimize the drag force. The layout of the AUV fleet is defined by two nondimensional parameters. Firstly, three-dimensional computational fluid dynamics (CFD) simulations are performed on the fleets with different layout parameters and detailed information on the hydrodynamic forces and flow structures around the AUVs is obtained. Then, based on the CFD data, a backpropagation neural network (BPNN) method is used to describe the relationship between the layout parameters and the drag of the fleet. Finally, a genetic algorithm (GA) is chosen to obtain the optimal layout parameters which correspond to the minimum drag. The optimization results show that (1) the total drag of the AUV fleet can be reduced by 12% when the follower AUV is located directly behind the leader AUV and (2) the drag of the follower AUV can be reduced by 66% when it is by the side of the leader AUV.

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“…Though multi-robot systems have mainly been studied with land robots in the past, there is also a clearly increasing interest in the topic in the last decade in the marine robotics community (see e.g. [3], [4], [5], [6], [7]). …”

Section: Introductionmentioning

confidence: 99%

Multi-robot exploration with AUVs on cliffs and other 3D structures with a predominant orientation

Rathnam

Birk

2015

OCEANS 2015 - Genova

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A multi-robot exploration algorithm is presented which is targeted at the exploration of 3D structures which predominantly extend along one orientation -the motivating example is underwater cliffs which are locally 3D but that are more globally seen to extend along a continuous vertical surface. The multi-robot exploration aims to maximise the sampling of the environment, causing much denser scans and especially complete scans than a simple lawn mower pattern, i.e., it contains an element of view-planning. This is done by fitting a local plane to the points in the sensor field of view and aligning the robot to view the local plane directly. The distributed multi-robot exploration algorithm is integrated into a complete system consisting of mapping, localisation, and navigation modules. Using a realistic simulation based on real world data from Monte da Guia in the Azores, the algorithm is experimentally validated.

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Localization of a fleet of AUVs using visual maps

Cited by 16 publications

References 5 publications

Numerical investigation of a fleet of towed AUVs

Numerical investigation of a fleet of towed AUVs

Layout Optimization of Two Autonomous Underwater Vehicles for Drag Reduction with a Combined CFD and Neural Network Method

Multi-robot exploration with AUVs on cliffs and other 3D structures with a predominant orientation

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