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

International Journal of Robotics Research - Tập 26 Số 1 - Trang 41-54 - 2007
D. Yoerger1, Michael V. Jakuba1, A. M. Bradley1, Brian Bingham2
1MS7 Blake Bldg, Woods Hole Oceanographic Insitution Woods Hole, MA 02543 USA,
2Franklin W. Olin College of Engineering, Needham, MA 02492, USA#TAB#

Tóm tắt

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.

Từ khóa


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