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Teach-and-repeat path following for an autonomous underwater vehicle
Citation
King, P and Vardy, A and Forrest, AL, Teach-and-repeat path following for an autonomous underwater vehicle, Journal of Field Robotics, 35, (5) pp. 748-763. ISSN 1556-4959 (2018) [Refereed Article]
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Copyright Statement
Copyright 2018 Wiley Periodicals
Abstract
This paper presents a teach-and-repeat path-following method for an autonomous underwater vehicle (AUV) navigating long distances in environments where external navigation aides are denied. This method utilizes sonar images to construct a series of reference views along a path,stored as a topological map. The AUV can then renavigate along this path, either to return to the start location or to repeat the route. Utilizing unique assumptions about the sonar image-generation process, this system exhibits robust image-matching capabilities, providing observations to a discrete Bayesian filter that maintains an estimate of progress along the path. Image-matching also provides an estimate of offset from the path, allowing the AUV to correct its heading and effectively close the gap. Over a series of field trials, this system demonstrated online control of an AUV in the ocean environment of Holyrood Arm, Newfoundland and Labrador, Canada. The system was implemented on an International Submarine Engineering Ltd. Explorer AUV and per-formed multiple path completions over both a 1 and 5 km track. These trials illustrated an AUV operating in a fully autonomous mode, in which navigation was driven solely by sensor feedback and adaptive control. Path-following performance was as desired, with the AUV maintaining close offset to the path.
Item Details
| Item Type: | Refereed Article |
|---|---|
| Keywords: | navigation, autonomy, AUV, sonar, computer vision, extreme environments, marine robotics, planning, underwater robotics |
| Research Division: | Engineering |
| Research Group: | Maritime engineering |
| Research Field: | Special vehicles |
| Objective Division: | Expanding Knowledge |
| Objective Group: | Expanding knowledge |
| Objective Field: | Expanding knowledge in engineering |
| UTAS Author: | King, P (Mr Peter King) |
| UTAS Author: | Forrest, AL (Dr Alexander Forrest) |
| ID Code: | 124319 |
| Year Published: | 2018 |
| Web of Science® Times Cited: | 6 |
| Deposited By: | NC Maritime Engineering and Hydrodynamics |
| Deposited On: | 2018-02-19 |
| Last Modified: | 2018-11-23 |
| Downloads: | 139 View Download Statistics |
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