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 The Transactions of the Royal Institution of Naval Architects Part A: International Journal of Maritime Engineering, 146, (2), pp. 71-9. (doi:10.3940/rina.ijme.2004.a2.3504).

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Description/Abstract

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:
Organisations: Fluid Structure Interactions Group
ePrint ID: 22707
Date :
Date Event
2004Published
Date Deposited: 22 Mar 2006
Last Modified: 16 Apr 2017 22:49
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/22707

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