TY - JOUR
T1 - AUV navigation around jacket structures I
T2 - Relative localization based on multi-sensor fusion
AU - Maki, Toshihiro
AU - Mizushima, Hayato
AU - Ura, Tamaki
AU - Sakamaki, Takashi
AU - Yanagisawa, Masao
N1 - Funding Information:
The authors wish to thank Mr. Yahiro, Mr. Tanaka, and other staff members of the Port and Airport Research Institute for their helpful advice. This work was supported by the Service Center of Port Engineering (SCOPE).
Publisher Copyright:
© JASNAOE 2012.
PY - 2012/3/9
Y1 - 2012/3/9
N2 - Underwater jacket structures or support legs of on-water platforms, such as ports and oil rigs, need to be periodically inspected for maintenance, environmental monitoring, and security reasons. Autonomous underwater vehicles (AUVs) can potentially make these tasks more inexpensive and reliable compared to conventional methods that involve the use of divers and remotely operated vehicles. This paper proposes a robust and practical selflocalization method for an underwater vehicle navigating around jacket structures, where the performance of conventional acoustic positioning suffers from multipath degradation. The key idea is to stochastically update the vehicle’s horizontal position and heading relative to the structures using two types of perceptional sensors, sonar and camera, assuming that the configuration of the structure is known. The performance of the method was verified with tank experiments using a jacket mock-up and the AUV Tri-Dog 1.
AB - Underwater jacket structures or support legs of on-water platforms, such as ports and oil rigs, need to be periodically inspected for maintenance, environmental monitoring, and security reasons. Autonomous underwater vehicles (AUVs) can potentially make these tasks more inexpensive and reliable compared to conventional methods that involve the use of divers and remotely operated vehicles. This paper proposes a robust and practical selflocalization method for an underwater vehicle navigating around jacket structures, where the performance of conventional acoustic positioning suffers from multipath degradation. The key idea is to stochastically update the vehicle’s horizontal position and heading relative to the structures using two types of perceptional sensors, sonar and camera, assuming that the configuration of the structure is known. The performance of the method was verified with tank experiments using a jacket mock-up and the AUV Tri-Dog 1.
KW - Autonomous underwater vehicle
KW - Jacket structures
KW - Navigation
KW - Port maintenance
KW - Sensor fusion
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U2 - 10.1007/s00773-012-0165-2
DO - 10.1007/s00773-012-0165-2
M3 - Article
AN - SCOPUS:84887439061
SN - 0948-4280
VL - 17
SP - 330
EP - 339
JO - Journal of Marine Science and Technology (Japan)
JF - Journal of Marine Science and Technology (Japan)
IS - 3
ER -