A robust return-home strategy for a long-range AUV operating beneath ice ...
Autonomous Underwater Vehicles (AUVs) are free-swimming robots that can explore regions of the ocean beyond the capabilities of ships or tethered vehicles. Their independence al?lows them to work deep, over long distances, and beneath the cover of floating ice. This independence comes at a cost as t...
| Main Author: | |
|---|---|
| Format: | Thesis |
| Language: | unknown |
| Published: |
University of Tasmania
2024
|
| Subjects: | |
| Online Access: | https://dx.doi.org/10.25959/26087335 https://figshare.utas.edu.au/articles/thesis/A_robust_return-home_strategy_for_a_long-range_AUV_operating_beneath_ice/26087335 |
| Summary: | Autonomous Underwater Vehicles (AUVs) are free-swimming robots that can explore regions of the ocean beyond the capabilities of ships or tethered vehicles. Their independence al?lows them to work deep, over long distances, and beneath the cover of floating ice. This independence comes at a cost as they need to navigate and position themselves with no external aids or reference. This work aims to improve the ability of an AUV to conduct ex?ploratory missions in un-surveyed and high-risk areas, such as beneath the ice in Antarctica, and return to a known safe recovery location. AUVs suffer from navigational drift making it dangerous to conduct these missions in their current state since the presence of ice can hinder the use of external navigational aiding. A solution to this problem is to allow the AUV to venture into an area, while accumulating error, then re-trace the inward path on the way out; if path was safe to get in then it is safe to get out. Navigation is driven by the registration of sensor ... |
|---|