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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 autonomous underwater vehicle (AUV) in close proximity to terraintypically relies solely on the vehicle sensors for terrain detection, and challenges themanoeuvrability of energy efficient flight‐style AUVs. This paper gives new results onaltitude tracking limits of such vehicles by using the fully understood environment ofa lake to perform repeated experiments while varying the altitude demand, obstacledetection and actuator use of a hover‐capable flight‐style AUV. The results areanalysed for mission success, vehicle risk and repeatability, demonstrating the terrainfollowing capabilities of the overactuated AUV over a range of altitude trackingstrategies and how these measures better inform vehicle operators. A majorconclusion is that the effects of range limits, bias and false detections of the sensorsused for altitude tracking must be fully accounted for to enable mission success.Furthermore it was found that switching between hover‐ and flight‐style actuationsbased on speed, whilst varying the operation speed, has advantages for performanceimprovement over combining hover‐ and flight‐style actuators at high speeds
1556-4959
1399-1421
Schillai, Sophia, Maria
8691c9c5-a8ba-4941-b03e-187fcdb39e7b
Turnock, Stephen
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Phillips, Alexander
f565b1da-6881-4e2a-8729-c082b869028f
Schillai, Sophia, Maria
8691c9c5-a8ba-4941-b03e-187fcdb39e7b
Turnock, Stephen
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
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, 36 (8), 1399-1421. (doi:10.1002/rob.21910).

Record type: Article

Abstract

Operating an autonomous underwater vehicle (AUV) in close proximity to terraintypically relies solely on the vehicle sensors for terrain detection, and challenges themanoeuvrability of energy efficient flight‐style AUVs. This paper gives new results onaltitude tracking limits of such vehicles by using the fully understood environment ofa lake to perform repeated experiments while varying the altitude demand, obstacledetection and actuator use of a hover‐capable flight‐style AUV. The results areanalysed for mission success, vehicle risk and repeatability, demonstrating the terrainfollowing capabilities of the overactuated AUV over a range of altitude trackingstrategies and how these measures better inform vehicle operators. A majorconclusion is that the effects of range limits, bias and false detections of the sensorsused for altitude tracking must be fully accounted for to enable mission success.Furthermore it was found that switching between hover‐ and flight‐style actuationsbased on speed, whilst varying the operation speed, has advantages for performanceimprovement over combining hover‐ and flight‐style actuators at high speeds

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Accepted/In Press date: 18 August 2019
e-pub ahead of print date: 30 September 2019
Published date: 1 December 2019
Additional Information: © 2019 Wiley Periodicals, Inc.

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 Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398
ORCID for Alexander Phillips: ORCID iD orcid.org/0000-0003-3234-8506

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Date deposited: 05 Sep 2019 16:30
Last modified: 21 Jul 2022 04:01

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Contributors

Author: Sophia, Maria Schillai
Author: Stephen Turnock ORCID iD
Author: Eric Rogers ORCID iD
Author: Alexander Phillips ORCID iD

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