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Experimental analysis of low altitude terrain following for hover capable flight style autonomous underwater vehicles

Experimental analysis of low altitude terrain following for hover capable flight style autonomous underwater vehicles
Experimental analysis of low altitude terrain following for hover capable flight style autonomous underwater vehicles
Operating an AUV in close proximity to terrain typically relies solely on the vehicle sensors for terrain detection, and challenges the manoeuvrability of energy efficient flight style autonomous underwater vehicles. This paper gives new results on altitude tracking limits of such vehicles by using the fully understood environment of a lake to perform repeated experiments while varying the altitude demand, obstacle detection, and actuator use of a hover capable flight style AUV. The results are analysed for mission success, vehicle risk, and repeatability, demonstrating the terrain following capabilities of the overactuated AUV over a range of altitude tracking strategies and how these measures better inform vehicle operators. A major conclusion is that the effects of range limits, bias, and false detections of the sensors used for altitude tracking must be fully accounted for to enable mission success. Furthermore it was found that switching between hover and flight style actuation based on
speed, whilst varying the operation speed, has advantages for performance improvement over combining hover and flight style actuators at high speeds.
1556-4959
Schillai, Sophia, Maria
8691c9c5-a8ba-4941-b03e-187fcdb39e7b
Turnock, Stephen
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Rogers, Eric
3466aa6f-e5d9-4c28-a4c0-e661d19e9507
Phillips, Alexander
f565b1da-6881-4e2a-8729-c082b869028f
Schillai, Sophia, Maria
8691c9c5-a8ba-4941-b03e-187fcdb39e7b
Turnock, Stephen
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Rogers, Eric
3466aa6f-e5d9-4c28-a4c0-e661d19e9507
Phillips, Alexander
f565b1da-6881-4e2a-8729-c082b869028f

Schillai, Sophia, Maria, Turnock, Stephen, Rogers, Eric and Phillips, Alexander (2019) Experimental analysis of low altitude terrain following for hover capable flight style autonomous underwater vehicles. Journal of Field Robotics. (doi:10.1002/rob.21910).

Record type: Article

Abstract

Operating an AUV in close proximity to terrain typically relies solely on the vehicle sensors for terrain detection, and challenges the manoeuvrability of energy efficient flight style autonomous underwater vehicles. This paper gives new results on altitude tracking limits of such vehicles by using the fully understood environment of a lake to perform repeated experiments while varying the altitude demand, obstacle detection, and actuator use of a hover capable flight style AUV. The results are analysed for mission success, vehicle risk, and repeatability, demonstrating the terrain following capabilities of the overactuated AUV over a range of altitude tracking strategies and how these measures better inform vehicle operators. A major conclusion is that the effects of range limits, bias, and false detections of the sensors used for altitude tracking must be fully accounted for to enable mission success. Furthermore it was found that switching between hover and flight style actuation based on
speed, whilst varying the operation speed, has advantages for performance improvement over combining hover and flight style actuators at high speeds.

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SCHILLAI-accepted-submission - Accepted Manuscript
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More information

Accepted/In Press date: 18 August 2019
e-pub ahead of print date: 30 September 2019

Identifiers

Local EPrints ID: 433867
URI: http://eprints.soton.ac.uk/id/eprint/433867
ISSN: 1556-4959
PURE UUID: 5252e671-21a6-412e-8724-66db417f0177
ORCID for Stephen Turnock: ORCID iD orcid.org/0000-0001-6288-0400
ORCID for Alexander Phillips: ORCID iD orcid.org/0000-0003-3234-8506

Catalogue record

Date deposited: 05 Sep 2019 16:30
Last modified: 07 Oct 2020 05:24

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