Autonomous underwater vehicle collision avoidance for under-ice exploration
Autonomous underwater vehicle collision avoidance for under-ice exploration
On 22 August 2004 the Autosub-2 autonomous underwater vehicle (AUV) was on its return leg of a 144 km, 24 h under-ice mission in the Arctic sea over the Northwind Shoal off the northeast Greenland coast when it found its path blocked by a deep ice keel that had drifted across its planned mission route. After three attempts, the Autosub found a way around the keel and continued on its way to rendezvous with its mother ship. This paper reports the development, testing, and operation of collision and obstacle avoidance techniques used in the Arctic and Antarctic under-ice expeditions of the Autosub-2 AUV.
autonomous underwater vehicle, underwater robotics, collision avoidance, obstacle avoidance, underwater navigation
53-66
Pebody, M.
061eafd0-c200-4701-b465-274140a4602b
2008
Pebody, M.
061eafd0-c200-4701-b465-274140a4602b
Pebody, M.
(2008)
Autonomous underwater vehicle collision avoidance for under-ice exploration.
Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 222 (2), .
(doi:10.1243/14750902JEME81).
Abstract
On 22 August 2004 the Autosub-2 autonomous underwater vehicle (AUV) was on its return leg of a 144 km, 24 h under-ice mission in the Arctic sea over the Northwind Shoal off the northeast Greenland coast when it found its path blocked by a deep ice keel that had drifted across its planned mission route. After three attempts, the Autosub found a way around the keel and continued on its way to rendezvous with its mother ship. This paper reports the development, testing, and operation of collision and obstacle avoidance techniques used in the Arctic and Antarctic under-ice expeditions of the Autosub-2 AUV.
This record has no associated files available for download.
More information
Published date: 2008
Keywords:
autonomous underwater vehicle, underwater robotics, collision avoidance, obstacle avoidance, underwater navigation
Identifiers
Local EPrints ID: 64295
URI: http://eprints.soton.ac.uk/id/eprint/64295
ISSN: 1475-0902
PURE UUID: b53c0627-3cc2-499b-b5f5-e3595a981874
Catalogue record
Date deposited: 08 Dec 2008
Last modified: 15 Mar 2024 11:48
Export record
Altmetrics
Contributors
Author:
M. Pebody
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