Ocean Deployment and Testing of a Semi-Autonomous Underwater Vehicle

被引：0
|
作者：
Lawrance, Nicholas R. J. [1 ]
Somers, Thane [1 ]
Jones, Dylan [1 ]
McCammon, Seth [1 ]
Hollinger, Geoffrey A. [1 ]
机构：
[1] Oregon State Univ, Robot Program, Sch Mech Ind & Mfg Engn, Corvallis, OR 97331 USA
来源：
OCEANS 2016 MTS/IEEE MONTEREY | 2016年
关键词：
NAVIGATION;
D O I：
10.1109/OCEANS.2016.7761276
中图分类号：
P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
We present the design overview and navigation performance for an offshore deployment of a semi-autonomous underwater vehicle (sAUV). The system is based on a commercially-available observation class remotely operated vehicle (ROV), combined with a commercial AUV navigation system. The vehicle also has onboard visual cameras, a Doppler velocity log, and a muItibeam imaging sonar. We present the integration of the various subsystems as well as a Robot Operating System (ROS) based interface that allows researchers to visualize sensor and navigation data and send commands to the vehicle in real time. Results from an April 2016 offshore trial are presented, demonstrating the station keeping and waypoint following capabilities of the vehicle in open water.
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页数：6
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