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Evaluation of terrain collision risks for flight style autonomous underwater vehicles

Evaluation of terrain collision risks for flight style autonomous underwater vehicles
Evaluation of terrain collision risks for flight style autonomous underwater vehicles
Photographic surveys of the seafloor with flight style autonomous underwater vehicles are a very effective tool for discovery and exploration. Due to the high terrain collision risk for the survey vehicle, they are employed with caution. The extent of this risk remains unquantified. For mission planning, researchers and vehicle operators have to rely on their experience.

This paper introduces measures for vehicle risk and success and analyses how previously mapped terrains and artificially generated terrain maps can be used to categorize terrains. The developed measures are applied to a simulation of the Autosub6000 flight style AUV terrain following system. Based on quantitative parameters, changes to the obstacle avoidance system and survey mission plans can be better informed.
auv, terrain following, risk, photographic survey, Autosub6000
311-318
IEEE
Schillai, Sophia
8691c9c5-a8ba-4941-b03e-187fcdb39e7b
Phillips, Alex
f565b1da-6881-4e2a-8729-c082b869028f
Turnock, Stephen
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Harris, Catherine
cceaafa6-e4ea-406e-bece-b4e51513249c
Schillai, Sophia
8691c9c5-a8ba-4941-b03e-187fcdb39e7b
Phillips, Alex
f565b1da-6881-4e2a-8729-c082b869028f
Turnock, Stephen
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Harris, Catherine
cceaafa6-e4ea-406e-bece-b4e51513249c

Schillai, Sophia, Phillips, Alex, Turnock, Stephen, Rogers, Eric and Harris, Catherine (2016) Evaluation of terrain collision risks for flight style autonomous underwater vehicles. In 2016 IEEE/OES Autonomous Underwater Vehicles (AUV). IEEE. pp. 311-318 . (doi:10.1109/AUV.2016.7778689).

Record type: Conference or Workshop Item (Paper)

Abstract

Photographic surveys of the seafloor with flight style autonomous underwater vehicles are a very effective tool for discovery and exploration. Due to the high terrain collision risk for the survey vehicle, they are employed with caution. The extent of this risk remains unquantified. For mission planning, researchers and vehicle operators have to rely on their experience.

This paper introduces measures for vehicle risk and success and analyses how previously mapped terrains and artificially generated terrain maps can be used to categorize terrains. The developed measures are applied to a simulation of the Autosub6000 flight style AUV terrain following system. Based on quantitative parameters, changes to the obstacle avoidance system and survey mission plans can be better informed.

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Accepted/In Press date: 16 July 2016
e-pub ahead of print date: 12 December 2016
Venue - Dates: Autonomous Underwater Vehicles 2016, Tokyo, Japan, 2016-11-06 - 2016-11-09
Keywords: auv, terrain following, risk, photographic survey, Autosub6000
Organisations: Ocean Technology and Engineering, Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 400679
URI: http://eprints.soton.ac.uk/id/eprint/400679
PURE UUID: 1d612031-da2a-4b36-bc15-552923426bc5
ORCID for Alex Phillips: ORCID iD orcid.org/0000-0003-3234-8506
ORCID for Stephen Turnock: ORCID iD orcid.org/0000-0001-6288-0400
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 26 Sep 2016 08:07
Last modified: 07 Oct 2020 06:23

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Contributors

Author: Sophia Schillai
Author: Alex Phillips ORCID iD
Author: Stephen Turnock ORCID iD
Author: Eric Rogers ORCID iD
Author: Catherine Harris

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