Line-of-sight iceberg edge-following using an AUV equipped with multibeam sonar
Obtaining 3D information about ice features, like icebergs, are of interest to researchers and offshore operators moving into the Arctic. Icebergs are affected by wind, and ocean currents, and can have unpredictable drift patterns, causing challenges when it comes to mapping objectives. Autonomous u...
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ftntnutrondheimi:oai:ntnuopen.ntnu.no:11250/2403955 2023-05-15T15:05:14+02:00 Line-of-sight iceberg edge-following using an AUV equipped with multibeam sonar Norgren, Petter Skjetne, Roger 2015-12-11T10:02:06Z http://hdl.handle.net/11250/2403955 https://doi.org/10.1016/j.ifacol.2015.10.262 eng eng Elsevier http://www.sciencedirect.com/science/article/pii/S2405896315021539/pdf?md5=0e850318f9d9dc1345af4d39241f4b02&pid=1-s2.0-S2405896315021539-main.pdf Norges forskningsråd: 223254 Norges forskningsråd: 203471 IFAC-PapersOnLine 2015, 48(16):81-88 urn:issn:2405-8963 http://hdl.handle.net/11250/2403955 https://doi.org/10.1016/j.ifacol.2015.10.262 cristin:1299279 Journal article Peer reviewed 2015 ftntnutrondheimi https://doi.org/10.1016/j.ifacol.2015.10.262 2019-09-17T06:51:17Z Obtaining 3D information about ice features, like icebergs, are of interest to researchers and offshore operators moving into the Arctic. Icebergs are affected by wind, and ocean currents, and can have unpredictable drift patterns, causing challenges when it comes to mapping objectives. Autonomous underwater vehicles (AUVs) equipped with multibeam echosounders are suitable for obtaining measurements of the underwater geometry of icebergs, but advances in autonomy are needed to map drifting icebergs reliably. This paper details a guidance algorithm for detecting and circumnavigating an iceberg - following the iceberg edge. The guidance scheme is implemented as a state machine, starting in an iceberg detection-mode. Once an iceberg is detected, the AUV will enter a mapping-mode. An edge detection algorithm will determine the position of the edge, and a line-of-sight approach will be used for edge-following. A six degree-of-freedom AUV simulator is used to perform a simulation study, to show how AUV dynamics affect the results. The simulation study presented shows the algorithm's effectiveness, both when the iceberg is assumed stationary, and when the iceberg is drifting and rotating with constant velocity. Article in Journal/Newspaper Arctic Iceberg* NTNU Open Archive (Norwegian University of Science and Technology) Arctic IFAC-PapersOnLine 48 16 81 88 |
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Open Polar |
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NTNU Open Archive (Norwegian University of Science and Technology) |
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ftntnutrondheimi |
language |
English |
description |
Obtaining 3D information about ice features, like icebergs, are of interest to researchers and offshore operators moving into the Arctic. Icebergs are affected by wind, and ocean currents, and can have unpredictable drift patterns, causing challenges when it comes to mapping objectives. Autonomous underwater vehicles (AUVs) equipped with multibeam echosounders are suitable for obtaining measurements of the underwater geometry of icebergs, but advances in autonomy are needed to map drifting icebergs reliably. This paper details a guidance algorithm for detecting and circumnavigating an iceberg - following the iceberg edge. The guidance scheme is implemented as a state machine, starting in an iceberg detection-mode. Once an iceberg is detected, the AUV will enter a mapping-mode. An edge detection algorithm will determine the position of the edge, and a line-of-sight approach will be used for edge-following. A six degree-of-freedom AUV simulator is used to perform a simulation study, to show how AUV dynamics affect the results. The simulation study presented shows the algorithm's effectiveness, both when the iceberg is assumed stationary, and when the iceberg is drifting and rotating with constant velocity. |
format |
Article in Journal/Newspaper |
author |
Norgren, Petter Skjetne, Roger |
spellingShingle |
Norgren, Petter Skjetne, Roger Line-of-sight iceberg edge-following using an AUV equipped with multibeam sonar |
author_facet |
Norgren, Petter Skjetne, Roger |
author_sort |
Norgren, Petter |
title |
Line-of-sight iceberg edge-following using an AUV equipped with multibeam sonar |
title_short |
Line-of-sight iceberg edge-following using an AUV equipped with multibeam sonar |
title_full |
Line-of-sight iceberg edge-following using an AUV equipped with multibeam sonar |
title_fullStr |
Line-of-sight iceberg edge-following using an AUV equipped with multibeam sonar |
title_full_unstemmed |
Line-of-sight iceberg edge-following using an AUV equipped with multibeam sonar |
title_sort |
line-of-sight iceberg edge-following using an auv equipped with multibeam sonar |
publisher |
Elsevier |
publishDate |
2015 |
url |
http://hdl.handle.net/11250/2403955 https://doi.org/10.1016/j.ifacol.2015.10.262 |
geographic |
Arctic |
geographic_facet |
Arctic |
genre |
Arctic Iceberg* |
genre_facet |
Arctic Iceberg* |
op_relation |
http://www.sciencedirect.com/science/article/pii/S2405896315021539/pdf?md5=0e850318f9d9dc1345af4d39241f4b02&pid=1-s2.0-S2405896315021539-main.pdf Norges forskningsråd: 223254 Norges forskningsråd: 203471 IFAC-PapersOnLine 2015, 48(16):81-88 urn:issn:2405-8963 http://hdl.handle.net/11250/2403955 https://doi.org/10.1016/j.ifacol.2015.10.262 cristin:1299279 |
op_doi |
https://doi.org/10.1016/j.ifacol.2015.10.262 |
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IFAC-PapersOnLine |
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48 |
container_issue |
16 |
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81 |
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88 |
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