On the Adaptation of an AUV into a Dedicated Platform for Close Range Imaging Survey Missions
Yevgeni Gutnik, Aviad Avni, Tali Treibitz, Morel Groper
Abstract
This study presents the redesign of an existing autonomous underwater vehicle (AUV) with limited maneuverability, transforming it into a platform optimized for autonomous, near-seabed visual imaging missions. This work describes the enhancement of the AUV’s maneuverability through the addition of thrusters, the leveraging of a state-of-the-art thrust allocation algorithm, and the development of both a path-following controller and a dedicated imaging system. The performance of the optimized platform is demonstrated in a simulation and in actual real sea visual survey missions.
Topics & Concepts
ThrustUnderwaterMarine engineeringComputer scienceRange (aeronautics)Remotely operated underwater vehicleAdaptation (eye)SeabedController (irrigation)SimulationAerospace engineeringReal-time computingEngineeringMobile robotGeologyArtificial intelligenceRobotOceanographyBiologyOpticsPhysicsAgronomyUnderwater Vehicles and Communication SystemsRobotics and Sensor-Based LocalizationRobotic Path Planning Algorithms