Tracking Omnidirectional Surfaces Using a Low-Cost Autonomous Underwater Vehicle
Tracking Omnidirectional Surfaces Using a Low-Cost Autonomous Underwater Vehicle
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DOI：
10.1109/joe.2020.2972046
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发表时间：
2021-01
影响因子：
4.1
通讯作者：
Yukiyasu Noguchi;T. Maki
中科院分区：
文献类型：
--
作者：
Yukiyasu Noguchi;T. Maki
近距离跟踪和观测水下结构物对于收集高分辨率信息具有重要意义。提出了一种基于自主水下航行器(AUV)的全方位曲面跟踪方法。该方法适用于各种水下结构物的测量，如崎岖的海底、船体、水池、堤坝、码头等。它以随机均值为基础，具有两个重要特征。首先，它只依赖商业现成的传感器(机械扫描成像声纳、水流传感器和姿态传感器)。第二，它适用于快速行驶的车辆。该方法在用于海洋研究和调查的AUV高灵敏地形跟踪器上实现，并在海上和坦克中进行了验证试验，以评估其性能。在海上，AUV成功地高速跟踪了崎岖的海底。在坦克中，AUV成功地跟踪了垂直墙壁，同时将摇摆角度保持在90美元。
Tracking and observing underwater structures at close range are important for gathering high-resolution information. This article proposes a method to track omnidirectional surfaces using an autonomous underwater vehicle (AUV). This method is suitable for surveying various kinds of underwater structures, such as rugged seafloors, ship hulls, pools, dams, and quay walls. It is based on stochastic means, and has two important features. First, it depends on only commercial off-the-shelf sensors (mechanical scanning imaging sonar, a water current sensor, and an attitude sensor). Second, it is applicable to fast moving vehicles. This method is implemented in the AUV highly agile terrain tracker for ocean research and investigation, and verification tests in the sea and in a tank are carried out to evaluate its performance. In the sea, the AUV succeeded in tracking the rugged seafloor at high speed. In the tank, the AUV succeeded in tracking vertical walls while keeping its roll angle at 90$^\circ$.