Freesub: Navigation Guidance and Control of an IAUV

Labbé, D.F.L., Wilson, P.A., Weiss, P. and Lapierre, L. (2004) Freesub: Navigation Guidance and Control of an IAUV. Royal Institution of Naval Architects Transactions A: International Journal of Maritime Engineering, 146, (2), 71-9. (doi:10.3940/rina.ijme.2004.a2.3504).


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An intervention Autonomous Underwater Vehicle (AUV) is a significant step forward from a conventional AUV because tasks usually performed using a Remotely Operated Vehicle (ROV) are made possible. In addition, its versatility opens a range of new applications, e.g. black-box recovery. The successful execution of such a mission requires that the Navigation, Guidance and Control of an intervention AUV is capable of simultaneous localisation and mapping, target localisation, obstacle avoidance and robust supervisory operation. In this technical note we will seek to explore the ramifications of these requirements on the technologies, their integration, and mission control. A detailed discussion of all the facets of the mission requirements will be given, and a modular system presented. Furthermore, the concept of an AUV simulator will be introduced as a tool for the testing of navigation, guidance and control systems. Such a simulator environment would allow for complete mission scenarios to be tested.

Item Type: Article
Digital Object Identifier (DOI): doi:10.3940/rina.ijme.2004.a2.3504
ISSNs: 1479-8751 (print)
Related URLs:
Keywords: autonomous underwater vehicles control
Subjects: V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
V Naval Science > V Naval Science (General)
Divisions : University Structure - Pre August 2011 > School of Engineering Sciences
University Structure - Pre August 2011 > School of Engineering Sciences > Fluid-Structure Interactions
ePrint ID: 22707
Accepted Date and Publication Date:
Date Deposited: 22 Mar 2006
Last Modified: 31 Mar 2016 11:42

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