Observation of breakwaters and their rock mound by AUV "Tri-Dog 1" at Kamaishi Bay
Observation of breakwaters and their rock mound by AUV "Tri-Dog 1" at Kamaishi Bay
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使用AUV“Tri-Dog 1”在釜石湾观察防波堤及其岩石堆
DOI：
10.1109/oceanse.2005.1511780
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
T. Sakamaki
中科院分区：
文献类型：
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作者：
H. Kondo;T. Maki;T. Ura;T. Sakamaki
提出了一种自主水下航行器（AUV）在预先确定主要构型的结构周围航行的导航方法。该方法由一个状态估计器和一个运动控制器组成，在没有任何外部帮助的情况下，可以在配置图中定位以及遵循预先给定的路点。状态估计器基于“粒子滤波”，其中车辆的状态、水平位置和航向使用多传感器数据实时随机更新。该方法在“Tri-Dog 1”AUV上实施，并在日本岩手县釜石湾口防波堤沉箱周围进行了实验。这是车辆首次成功地在防波堤沉箱周围进行完全自主观察。在水下机器人状态估计的基础上，利用观测图像对水下机器人的足部保护块、岩丘和沉箱表面进行拼接，验证了该方法的有效性。
This paper proposes a navigation method for an Autonomous underwater vehicle (AUV) operating around structures whose major configuration given in advance. The method consists of a state estimator and a motion controller, enabling localization in the configuration map as well as following pregiven waypoints without any external help. The state estimator is based on a "particle filter" where the vehicle's state, horizontal position and heading, is stochastically updated in real time using multisensor data. This method was implemented on the AUV "Tri-Dog 1" and experiments were carried out around breakwater caissons at the mouth of Kamaishi bay, Iwate Prefecture in Japan. This is the first time a vehicle has succeeded in fully autonomous observation around breakwater caissons. Mosaics of the foot protection blocks, rock mound and caisson's surface are made from the observed images based on the estimated state of the AUV, to verify the performance of the method.