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Autonomous underwater vehicle collision avoidance for under-ice exploration

Autonomous underwater vehicle collision avoidance for under-ice exploration
Autonomous underwater vehicle collision avoidance for under-ice exploration
On 22 August 2004 the Autosub-2 autonomous underwater vehicle (AUV) was on its return leg of a 144 km, 24 h under-ice mission in the Arctic sea over the Northwind Shoal off the northeast Greenland coast when it found its path blocked by a deep ice keel that had drifted across its planned mission route. After three attempts, the Autosub found a way around the keel and continued on its way to rendezvous with its mother ship. This paper reports the development, testing, and operation of collision and obstacle avoidance techniques used in the Arctic and Antarctic under-ice expeditions of the Autosub-2 AUV.
autonomous underwater vehicle, underwater robotics, collision avoidance, obstacle avoidance, underwater navigation
1475-0902
53-66
Pebody, M.
061eafd0-c200-4701-b465-274140a4602b
Pebody, M.
061eafd0-c200-4701-b465-274140a4602b

Pebody, M. (2008) Autonomous underwater vehicle collision avoidance for under-ice exploration. Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 222 (2), 53-66. (doi:10.1243/14750902JEME81).

Record type: Article

Abstract

On 22 August 2004 the Autosub-2 autonomous underwater vehicle (AUV) was on its return leg of a 144 km, 24 h under-ice mission in the Arctic sea over the Northwind Shoal off the northeast Greenland coast when it found its path blocked by a deep ice keel that had drifted across its planned mission route. After three attempts, the Autosub found a way around the keel and continued on its way to rendezvous with its mother ship. This paper reports the development, testing, and operation of collision and obstacle avoidance techniques used in the Arctic and Antarctic under-ice expeditions of the Autosub-2 AUV.

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More information

Published date: 2008
Keywords: autonomous underwater vehicle, underwater robotics, collision avoidance, obstacle avoidance, underwater navigation

Identifiers

Local EPrints ID: 64295
URI: http://eprints.soton.ac.uk/id/eprint/64295
ISSN: 1475-0902
PURE UUID: b53c0627-3cc2-499b-b5f5-e3595a981874

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Date deposited: 08 Dec 2008
Last modified: 15 Mar 2024 11:48

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Author: M. Pebody

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