Visual Navigation for Recovering an AUV by Another AUV in Shallow Water
نویسندگان
چکیده
منابع مشابه
AUV Navigation and Self-Motion in Shallow Water
We wish to address the problems of navigation and self-motion of small AUVs in shallow water. Speci c objectives are to characterize the performance of the navigation system and Kalman lter in shallow water and energetic environments; to characterize the self-motion properties of small AUVs operating in shallow water in relation to sea-state and depth; to evaluate the suitability of small AUVs ...
متن کاملAUV Hydrodynamics In Shallow Water During Adverse Weather Conditions
My long-term goal is to contribute, by means of an accurate hydrodynamics model, to efficient design, development and operation of autonomous underwater vehicles in energetic shallow waters. From a scientific viewpoint, the development of the AUV hydrodynamic model will contribute to a better understanding of wave-body-current interactions, nonlinear shallow-water waves, wave effects on stabili...
متن کاملAugmented State Kalman Filtering for AUV Navigation
This paper addresses the problem of estimating the motion of an Autonomous Underwater Vehicle (AUV), while it constructs a visual map (mosaic image) of the ocean floor. The vehicle is equipped with a down-looking camera which is used to compute its motion with respect to the seafloor. As the mosaic increases in size, a systematic bias is introduced in the alignment of the images which form th...
متن کاملAn integrated navigation system for a long range AUV
This paper presents the basic concepts of an integrated navigation system devised for a long range AUV which has to reach distant mission points while the currents can be only roughly predicted and details on the sea bed are locally known. The system includes several basic functions that are under the control of an execution monitor in order to perform re-planning when abnormal conditions are e...
متن کاملAuv Terrain Relative Navigation Using Coarse Maps
Terrain Relative Navigation (TRN) provides an enabling technology for drift-free, low-cost navigation on many existing underwater vehicles. While highperformance TRN systems have been demonstrated using high-quality sensors and terrain maps, these systems can be very costly and the high-resolution bathymetry maps used are of limited availability. To extend the applicability of TRN, the authors ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Sensors
سال: 2019
ISSN: 1424-8220
DOI: 10.3390/s19081889