Real time path-planning of an AUV based on characteristics of passive acoustic landmarks for visual mapping of shallow vent fields
Real time path-planning of an AUV based on characteristics of passive acoustic landmarks for visual mapping of shallow vent fields
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DOI：
10.1109/oceans.2007.4449321
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发表时间：
2007-12
期刊：
影响因子：
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通讯作者：
T. Maki;Hayato Mizushimat;H. Kondo;T. Ura;T. Sakamaki;Masao Yanagisawat
中科院分区：
文献类型：
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作者：
T. Maki;Hayato Mizushimat;H. Kondo;T. Ura;T. Sakamaki;Masao Yanagisawat
虽然水下喷口领域是很大的科学兴趣，准确的视觉测绘是困难的，因为存在的气泡羽流，降低了传统的声学定位系统，如长基线（LBL）和超短基线（SSBL）的精度。作者提出了一种用配备剖面声纳的自主式水下航行器对浅喷口区进行视觉测绘的方法，其中定位是基于垂直杆状声反射器和气泡羽流。虽然通过一系列实验验证了性能，但仍然存在以下两个挑战。首先，如果飞行器被气泡羽流包围，则观测终止，因为飞行器不仅试图避免与人工反射器碰撞，而且还试图避免与碰撞安全气泡羽流碰撞。其次，观测区域会因扰动而漂移，因为航路点是在接近海底下降后相对于航行器的位置定义的。本文提出了一种实时的路径规划方法的AUV的建议的观察方法的一部分。基于地标的类型以及车辆与地标之间的几何关系来定义车辆的路径。车辆可以使用片状激光器和相机区分地标类型。该方法在AUV Tri-Dog 1上实现，并进行了一系列实验，以验证其性能。
Although underwater vent fields are of great scientific interest, accurate visual mapping is difficult because of the presence of bubble plumes that degrade the accuracy of conventional acoustic positioning systems such as long base line (LBL) and super short base line (SSBL). The authors had proposed a visual mapping method of shallow vent fields with an autonomous underwater vehicle (AUV) equipped with a profiling sonar, where positioning is based on vertical rod-shaped acoustic reflectors and bubble plumes. Although performance was verified through a series of experiments, there remain two challenges as follows. Firstly, observation is terminated if the vehicle was surrounded by bubble plumes, since the vehicle tries to avoid collision with not only artificial reflectors but also collision-safe bubble plumes. Secondly, the observation area drifts by disturbance since the waypoints are defined relative to the vehicle's position after descending close to seafloor. This paper proposes a real-time path planning method of an AUV as a part of the proposed observation method. The path of the vehicle is defined based on the types of landmarks as well as the geometric relationship between the vehicle and the landmarks. The vehicle can distinguish landmark types using a sheet laser and a camera. The proposed method was implemented on the AUV Tri-Dog 1 and a series of experiments were carried out in order to verify its performance.