DOI QR코드

DOI QR Code

Autonomous swimming technology for an AUV operating in the underwater jacket structure environment

  • Li, Ji-Hong (Marine Robotics R&D Division, Korea Institute of Robot and Convergence) ;
  • Park, Daegil (Marine Robotics R&D Division, Korea Institute of Robot and Convergence) ;
  • Ki, Geonhui (Marine Robotics R&D Division, Korea Institute of Robot and Convergence)
  • Received : 2018.10.16
  • Accepted : 2019.02.19
  • Published : 2019.02.18

Abstract

This paper presents the autonomous swimming technology developed for an Autonomous Underwater Vehicle (AUV) operating in the underwater jacket structure environment. To prevent the position divergence of the inertial navigation system constructed for the primary navigation solution for the vehicle, we've developed kinds of marker-recognition based underwater localization methods using both of optical and acoustic cameras. However, these two methods all require the artificial markers to be located near to the cameras mounted on the vehicle. Therefore, in the case of the vehicle far away from the structure where the markers are usually mounted on, we may need alternative position-aiding solution to guarantee the navigation accuracy. For this purpose, we develop a sonar image processing based underwater localization method using a Forward Looking Sonar (FLS) mounted in front of the vehicle. The primary purpose of this FLS is to detect the obstacles in front of the vehicle. According to the detected obstacle(s), we apply an Occupancy Grid Map (OGM) based path planning algorithm to derive an obstacle collision-free reference path. Experimental studies are carried out in the water tank and also in the Pohang Yeongilman port sea environment to demonstrate the effectiveness of the proposed autonomous swimming technology.

Acknowledgement

Grant : Development of Multi-sensor Fusion based AUV's Terminal Guidance and Docking Technology

Supported by : MOTIE, Agency for Defense Development (ADD)

References

  1. BlueView Technologies Inc, 2013. ProViewer Sonar Development Kit User's Guide.
  2. Fairfield, N., Kantor, G., Jonak, D., Wettergreen, D., 2008. DEPTHX Autonomy Software: Design and Field Results. Tech. Report CMU-RI-TR-08-09. Robotics Institute, Camegie Mellon University (July).
  3. Farrell, J., Barth, B., 1998. The Global Positioning System and Inertial Navigation. McGraw-Hill.
  4. Jung, J.D., Li, J.H., Choi, H.T., Myung, H., 2017. Localization of AUVs using visual information of underwater structures and artificial landmarks. Intell. Serv. Robot. 10, 67-76.
  5. Latombe, J.C., 1991. Robot Motion Planning. Kluwer Academic Publishers, Massachusetts.
  6. Laugier, C., Chatila, R., 2007. Autonomous Navigation in Dynamic Environments, first ed. Springer-Verlag Berlin, Heidelberg.
  7. Lee, P.M., Jun, B.H., Kim, K.H., Lee, J.M., Aoki, T., Hyakudome, T., 2007. Simulation of an inertial navigation system with range aiding for an autonomous underwater vehicle. IEEE J. Ocean. Eng. 32 (2), 327-345.
  8. Lee, Y.J., Choi, J.W., Ko, N.Y., Choi, H.T., 2017. Probability-based recognition framework for underwater landmarks using sonar images. Sensors 17 (9). https://doi.org/10.3390/s17091953.
  9. Lewis, F.L., 1986. Optimal Estimation. John Wiley & Sons, Inc.
  10. Li, J.H., Lee, M.J., Kim, J.G., Park, S.H., Suh, J.H., 2012. Guidance and control of P-SURO II hybrid AUV. In: Proceedings of MTS/IEEE Oceans'12 Yeosu 2012, Korea.
  11. Li, J.H., Kang, H.J., Park, G.H., Ki, H.S., Suh, J.H., 2017. Sonar image processing based underwater localization method and its experimental studies. In: Proceedings of MTS/IEEE Oceans'17 Anchorage, Alaska.
  12. Li, J.H., Park, D.G., Ki, H.S., 2018. Sonar image processing based underwater localization and path planning for AUV's autonomous swimming. In: Proceedings of 5th International Conference on Control. Decision and Information Technologies, Thessaloniki, Greece, pp. 611-615.
  13. Russell, S.J., Norvig, P., 2009. Artificial Intelligence: A Modern Approach, third ed. Prentice Hall, Upper Saddle River, New Jersey.
  14. Thurn, S., Burgard, W., Fox, D., 1997. Probabilistic Robotics. The MIT Press.
  15. Tittertonm, D.H., Weston, J.H., 1997. Strapdown Inertial Navigation Technology. Peter Peregrimus Ltd., UK.