The University of Southampton
University of Southampton Institutional Repository

Freesub: Navigation Guidance and Control of an IAUV

Record type: Article

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.

Full text not available from this repository.

Citation

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).

More information

Published date: 2004
Keywords: autonomous underwater vehicles control
Organisations: Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 22707
URI: http://eprints.soton.ac.uk/id/eprint/22707
ISSN: 1479-8751
PURE UUID: aa27c587-68c6-4bcb-b969-20da1e7f2d39
ORCID for P.A. Wilson: ORCID iD orcid.org/0000-0002-6939-682X

Catalogue record

Date deposited: 22 Mar 2006
Last modified: 17 Jul 2017 16:21

Export record

Altmetrics


Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton: eprints@soton.ac.uk

ePrints Soton supports OAI 2.0 with a base URL of http://eprints.soton.ac.uk/cgi/oai2

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.

×