Adaptive underwater sonar surveys in the presence of strong currents

David P. Williams, Francesco Baralli, Michele Micheli, Simone Vasoli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

27 Scopus citations

Abstract

We consider the task of conducting underwater surveys with a sonar-equipped autonomous underwater vehicle (AUV) in environments with strong currents. More specifically, this topic is addressed in the context of mine countermeasure operations employing synthetic aperture sonar (SAS) sensors. Two complementary algorithms that allow the AUV to autonomously adapt its survey route based on sophisticated sensor data it collects in situ, while respecting the unique constraints imposed by the problem, are proposed. The algorithms allow the AUV to (i) adapt its survey heading based on the presence of currents to ensure quality data is collected, and (ii) adapt its survey route to reinspect the most suspicious objects at additional aspects. The flexibility to immediately react in situ to the environmental and tactical conditions sensed during the mission allow the most useful data for object recognition purposes to be collected efficiently. By obviating the recovery and redeployment of the AUV, as well as laboratory-based data-processing during the interregnum, the overall mission timeline can be greatly compressed and operational costs can be reduced. Experimental results illustrating the real-time execution of the proposed algorithms on an AUV are shown for a completely autonomous mission conducted in the North Sea.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2604-2611
Number of pages8
ISBN (Electronic)9781467380263
DOIs
StatePublished - Jun 8 2016
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: May 16 2016May 21 2016

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2016-June
ISSN (Print)1050-4729

Conference

Conference2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Country/TerritorySweden
CityStockholm
Period5/16/165/21/16

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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