Applications for Autonomous Control of Multiple AUVs Toward Deep-Sea Resource Explorations
Masahiko Sasano, Akihiro Okamoto, Shogo Inaba, Toshifumi Fujiwara, Hiroyuki Yamamoto, Eiichi Asakawa, Sotaro Takashima
Abstract
This study tested autonomous control of multiple AUVs using two hovering AUVs at a depth of 80 to 90 m water area in Lake Biwa by implementing AUV-AUV communication and AUV-AUV positioning. The tests were successfully conducted with two AUVs navigating autonomously in 1) formation, 2) holding both ends of the horizontal cable, and 3) approaching an underwater acoustic lighthouse, while minimizing information and commands from the mother vessel.
Topics & Concepts
UnderwaterMarine engineeringIntervention AUVRemotely operated underwater vehicleResource (disambiguation)Control (management)Computer scienceUnderwater acoustic communicationReal-time computingGeologyEnvironmental scienceEngineeringOceanographyMobile robotRobotArtificial intelligenceComputer networkUnderwater Vehicles and Communication SystemsUnderwater Acoustics ResearchRobotics and Sensor-Based Localization