Navigation of an AUV for investigation of underwater structures

Kondo, Hayato; Ura, Tamaki

doi:10.1016/j.conengprac.2003.12.005

Cited by 71 publications

(34 citation statements)

References 6 publications

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“…However, our vehicle will be able to precisely align its heading by controlling the left/right thrusters while it is drifted owing to the lift force, if the position of the vehicle has been measured by a high accurate positioning system, or precise bottom-referenced surge velocity measurement equipment such as DVL. Anyway, the dead reckoning error occurred owing to DVL that was still large as shown in [17]. Therefore, it is more difficult to precisely control the thrusters while the vehicle is acted by the lift force in the estimated positioning system.…”

Section: Obstacle Avoidances In Tank Experimentsmentioning

confidence: 99%

Real Time Underwater Obstacle Avoidance and Path Re-planning Using Simulated Multi-beam Forward Looking Sonar Images for Autonomous Surface Vehicle

Phanthong¹

2015

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Abstract. This paper describes underwater obstacle avoidance and path re-planning techniques for autonomous surface vehicle (ASV) based on simulated multi-beam forward looking sonar images. The sonar image is first simulated and then a circular obstacle is defined and created in the field of view of the sonar. In this study, the robust real-time path re-planning algorithm based on an A* algorithm is developed. Our real-time path re-planning algorithm has been tested to regenerate the optimal path for several updated frames with a proper update frequency between the start point and the goal point both in static and dynamical environments. The performance of proposed method is verified through simulations, and tank experiments using an actual ASV. While the simulation results are successful, the vehicle model can avoid both single obstacle, multiple obstacles and moving obstacle with the optimal trajectory. For tank experiments, the proposed method for underwater obstacle avoidance system is implemented with the ASV test platform. The vehicle is controlled in real-time and moderately succeeds in its avoidance against the obstacle simulated in the field of view of the sonar together with the proposed position stochastic estimation of the vehicle.

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Section: Obstacle Avoidances In Tank Experimentsmentioning

confidence: 99%

Real Time Underwater Obstacle Avoidance and Path Re-planning Using Simulated Multi-beam Forward Looking Sonar Images for Autonomous Surface Vehicle

Phanthong¹

2015

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“…They are calculated taking into account , the general interaction matrix in (9), the model parameters in Table I, and the relationships in (7). Then, noting , we obtain It is obvious that simple combinations of such features can lead to a decoupled system.…”

Section: Decoupled Image-based Approachmentioning

confidence: 99%

“…Thus, tasks like docking, welding, or painting large surfaces lacking structure or texture can be faced. For example, Kondo and Tamaki [7] equipped an underwater robot with two laser pointers and a camera for avoiding obstacles and docking tasks. In [8], a glassclimbing robot uses two laser pointers and a camera for aligning the robot body with the glass surface.…”

mentioning

confidence: 99%

Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light

Pagès¹,

Collewet

Chaumette

et al. 2006

IEEE Trans. Robot.

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Abstract-This paper considers the problem of positioning an eye-in-hand system so that it becomes parallel to a planar object. Our approach to this problem is based on linking to the camera a structured light emitter designed to produce a suitable set of visual features. The aim of using structured light is not only for simplifying the image processing and allowing low-textured objects to be considered, but also for producing a control scheme with nice properties like decoupling, convergence, and adequate camera trajectory. This paper focuses on an image-based approach that achieves decoupling in all the workspace, and for which the global convergence is ensured in perfect conditions. The behavior of the image-based approach is shown to be partially equivalent to a 3-D visual servoing scheme, but with a better robustness with respect to image noise. Concerning the robustness of the approach against calibration errors, it is demonstrated both analytically and experimentally.Index Terms-Convergence analysis, decoupled visual features, plane-to-plane task, structured light, visual servoing.

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“…A system using triangulation between a laser dot and a camera frame was described in (Chen and Lee, 2000) the results showed sub-millimeter accuracy between 450mm and 1200mm. The triangulation is expanded to two lasers in (Kondo and Ura, 2004), where the authors exploit the added information to do navigation with respect to different objects. In this case the lasers are mounted parallel to each other.…”

Section: Introductionmentioning

confidence: 99%

Short-Range Sensor for Underwater Robot Navigation using Line-lasers and Vision

et al. 2015

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This paper investigates a minimalistic laser-based range sensor, used for underwater inspection by Autonomous Underwater Vehicles (AUV). This range detection system system comprise two lasers projecting vertical lines, parallel to a camera's viewing axis, into the environment. Using both lasers for distance estimation, the sensor offers three dimensional interpretation of the environment. This is obtained by triangulation of points extracted from the image using the Hough Transform. We evaluate the system in simulation and by physical proof-of-concept experiments on an OpenROV platform.

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Navigation of an AUV for investigation of underwater structures

Cited by 71 publications

References 6 publications

Real Time Underwater Obstacle Avoidance and Path Re-planning Using Simulated Multi-beam Forward Looking Sonar Images for Autonomous Surface Vehicle

Real Time Underwater Obstacle Avoidance and Path Re-planning Using Simulated Multi-beam Forward Looking Sonar Images for Autonomous Surface Vehicle

Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light

Short-Range Sensor for Underwater Robot Navigation using Line-lasers and Vision

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