Teach-and-repeat path following for an autonomous underwater vehicle
© 2018 Wiley Periodicals, Inc. This paper presents a teach-and-repeat path-following method for an autonomous underwater vehicle (AUV) navigating long distances in environments where external navigation aides are denied. This method utilizes sonar images to construct a series of reference views alon...
Published in: | Journal of Field Robotics |
---|---|
Main Authors: | , , |
Format: | Article in Journal/Newspaper |
Language: | English |
Published: |
eScholarship, University of California
2018
|
Subjects: | |
Online Access: | http://www.escholarship.org/uc/item/4s73v53p |
id |
ftcdlib:qt4s73v53p |
---|---|
record_format |
openpolar |
spelling |
ftcdlib:qt4s73v53p 2023-05-15T17:22:27+02:00 Teach-and-repeat path following for an autonomous underwater vehicle King, P Vardy, A Forrest, AL 748 - 763 2018-08-01 application/pdf http://www.escholarship.org/uc/item/4s73v53p english eng eScholarship, University of California qt4s73v53p http://www.escholarship.org/uc/item/4s73v53p public King, P; Vardy, A; & Forrest, AL. (2018). Teach-and-repeat path following for an autonomous underwater vehicle. Journal of Field Robotics, 35(5), 748 - 763. doi:10.1002/rob.21776. UC Davis: Retrieved from: http://www.escholarship.org/uc/item/4s73v53p article 2018 ftcdlib https://doi.org/10.1002/rob.21776 2018-07-27T22:51:34Z © 2018 Wiley Periodicals, Inc. This paper presents a teach-and-repeat path-following method for an autonomous underwater vehicle (AUV) navigating long distances in environments where external navigation aides are denied. This method utilizes sonar images to construct a series of reference views along a path, stored as a topological map. The AUV can then renavigate along this path, either to return to the start location or to repeat the route. Utilizing unique assumptions about the sonar image-generation process, this system exhibits robust image-matching capabilities, providing observations to a discrete Bayesian filter that maintains an estimate of progress along the path. Image-matching also provides an estimate of offset from the path, allowing the AUV to correct its heading and effectively close the gap. Over a series of field trials, this system demonstrated online control of an AUV in the ocean environment of Holyrood Arm, Newfoundland and Labrador, Canada. The system was implemented on an International Submarine Engineering Ltd. Explorer AUV and performed multiple path completions over both a 1 and 5 km track. These trials illustrated an AUV operating in a fully autonomous mode, in which navigation was driven solely by sensor feedback and adaptive control. Path-following performance was as desired, with the AUV maintaining close offset to the path. Article in Journal/Newspaper Newfoundland University of California: eScholarship Canada Newfoundland Journal of Field Robotics 35 5 748 763 |
institution |
Open Polar |
collection |
University of California: eScholarship |
op_collection_id |
ftcdlib |
language |
English |
description |
© 2018 Wiley Periodicals, Inc. This paper presents a teach-and-repeat path-following method for an autonomous underwater vehicle (AUV) navigating long distances in environments where external navigation aides are denied. This method utilizes sonar images to construct a series of reference views along a path, stored as a topological map. The AUV can then renavigate along this path, either to return to the start location or to repeat the route. Utilizing unique assumptions about the sonar image-generation process, this system exhibits robust image-matching capabilities, providing observations to a discrete Bayesian filter that maintains an estimate of progress along the path. Image-matching also provides an estimate of offset from the path, allowing the AUV to correct its heading and effectively close the gap. Over a series of field trials, this system demonstrated online control of an AUV in the ocean environment of Holyrood Arm, Newfoundland and Labrador, Canada. The system was implemented on an International Submarine Engineering Ltd. Explorer AUV and performed multiple path completions over both a 1 and 5 km track. These trials illustrated an AUV operating in a fully autonomous mode, in which navigation was driven solely by sensor feedback and adaptive control. Path-following performance was as desired, with the AUV maintaining close offset to the path. |
format |
Article in Journal/Newspaper |
author |
King, P Vardy, A Forrest, AL |
spellingShingle |
King, P Vardy, A Forrest, AL Teach-and-repeat path following for an autonomous underwater vehicle |
author_facet |
King, P Vardy, A Forrest, AL |
author_sort |
King, P |
title |
Teach-and-repeat path following for an autonomous underwater vehicle |
title_short |
Teach-and-repeat path following for an autonomous underwater vehicle |
title_full |
Teach-and-repeat path following for an autonomous underwater vehicle |
title_fullStr |
Teach-and-repeat path following for an autonomous underwater vehicle |
title_full_unstemmed |
Teach-and-repeat path following for an autonomous underwater vehicle |
title_sort |
teach-and-repeat path following for an autonomous underwater vehicle |
publisher |
eScholarship, University of California |
publishDate |
2018 |
url |
http://www.escholarship.org/uc/item/4s73v53p |
op_coverage |
748 - 763 |
geographic |
Canada Newfoundland |
geographic_facet |
Canada Newfoundland |
genre |
Newfoundland |
genre_facet |
Newfoundland |
op_source |
King, P; Vardy, A; & Forrest, AL. (2018). Teach-and-repeat path following for an autonomous underwater vehicle. Journal of Field Robotics, 35(5), 748 - 763. doi:10.1002/rob.21776. UC Davis: Retrieved from: http://www.escholarship.org/uc/item/4s73v53p |
op_relation |
qt4s73v53p http://www.escholarship.org/uc/item/4s73v53p |
op_rights |
public |
op_doi |
https://doi.org/10.1002/rob.21776 |
container_title |
Journal of Field Robotics |
container_volume |
35 |
container_issue |
5 |
container_start_page |
748 |
op_container_end_page |
763 |
_version_ |
1766109138632310784 |