On the Adaptation of an AUV into a Dedicated Platform for Close Range Imaging Survey Missions
JOURNAL OF MARINE SCIENCE AND ENGINEERING(2022)
摘要
This study presents the redesign of an existing autonomous underwater vehicle (AUV) with limited maneuverability, transforming it into a platform optimized for autonomous, near-seabed visual imaging missions. This work describes the enhancement of the AUV's maneuverability through the addition of thrusters, the leveraging of a state-of-the-art thrust allocation algorithm, and the development of both a path-following controller and a dedicated imaging system. The performance of the optimized platform is demonstrated in a simulation and in actual real sea visual survey missions.
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关键词
dynamics of underwater vehicles, hovering autonomous underwater vehicle (AUV), hydrodynamic coefficients, path following, thruster allocation, underwater imaging, visual survey
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