Coordination of autonomous underwater vehicles for acoustic image acquisition

Author(s):  
Indraneel S. Kulkarni ◽  
Dario Pompili
Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
Taha Elmokadem ◽  
Andrey V. Savkin

Abstract Unmanned aerial vehicles (UAVs) have become essential tools for exploring, mapping and inspection of unknown three-dimensional (3D) tunnel-like environments which is a very challenging problem. A computationally light navigation algorithm is developed in this paper for quadrotor UAVs to autonomously guide the vehicle through such environments. It uses sensors observations to safely guide the UAV along the tunnel axis while avoiding collisions with its walls. The approach is evaluated using several computer simulations with realistic sensing models and practical implementation with a quadrotor UAV. The proposed method is also applicable to other UAV types and autonomous underwater vehicles.


Author(s):  
Xiaoping Huang ◽  
Fangyi Wen ◽  
Zhongxin Wei

In recent years, with the development of communication technology, embedded computing technology and sensor technology, it has become increasingly mature. Micro sensors with sensing, computing and communication capabilities have appeared in large numbers and developed rapidly, making wireless sensor networks widely used. People put forward higher requirements for the accuracy, reliability and flexibility of the image acquisition system. The image transmission system using analog technology not only has low image quality, but also has a serious waste of system resources, is not easy to form a complex network structure, and has poor functional scalability. In view of the actual needs of the current image acquisition and wireless transmission system, based on embedded technology, image acquisition, processing technology and network transmission technology, this paper proposes and designs a low-cost, high-reliability embedded image acquisition and wireless transmission system. Experimental tests show that this system has reasonable design, high video coding efficiency, good image continuity, stable operation, and basically realizes the display, storage and playback functions of the collected video data. Improve the transmission rate of the system and reduce the distortion caused by compression in terms of image compression. At the same time, it supports multiple image resolutions, frame rate options and multiple video formats, and the system’s transmission rate can adapt to the state of the network. This design fulfills the basic requirements of an embedded image acquisition system based on network technology, and provides a good foundation for the next development of a gigabit network-based image acquisition system.


2021 ◽  
Vol 9 (3) ◽  
pp. 277
Author(s):  
Isaac Segovia Ramírez ◽  
Pedro José Bernalte Sánchez ◽  
Mayorkinos Papaelias ◽  
Fausto Pedro García Márquez

Submarine inspections and surveys require underwater vehicles to operate in deep waters efficiently, safely and reliably. Autonomous Underwater Vehicles employing advanced navigation and control systems present several advantages. Robust control algorithms and novel improvements in positioning and navigation are needed to optimize underwater operations. This paper proposes a new general formulation of this problem together with a basic approach for the management of deep underwater operations. This approach considers the field of view and the operational requirements as a fundamental input in the development of the trajectory in the autonomous guidance system. The constraints and involved variables are also defined, providing more accurate modelling compared with traditional formulations of the positioning system. Different case studies are presented based on commercial underwater cameras/sonars, analysing the influence of the main variables in the measurement process to obtain optimal resolution results. The application of this approach in autonomous underwater operations ensures suitable data acquisition processes according to the payload installed onboard.


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