Autonomous Control of an Autonomous Underwater Vehicle Towing a Vector Sensor Array

This paper is about the autonomous control of an autonomous underwater vehicle (AUV), and the particular considerations required to allow proper control while towing a 100-meter vector sensor array. Mission related objectives are tempered by the need to consider the effect of a sequence of maneuvers...

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Bibliographic Details
Main Authors: Benjamin, M.R., Battle, D., Eickstedt, D., Schmidt, H., Balasuriya, A.
Format: Conference Proceeding
Language:English
Subjects:
Acoustic arrays
Acoustic sensors
Communication system control
Mechanical engineering
Mobile communication
Mobile robots
Remotely operated vehicles
Sensor arrays
Underwater acoustics
Underwater vehicles
Online Access:Request full text
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Summary:This paper is about the autonomous control of an autonomous underwater vehicle (AUV), and the particular considerations required to allow proper control while towing a 100-meter vector sensor array. Mission related objectives are tempered by the need to consider the effect of a sequence of maneuvers on the motion of the towed array which is thought not to tolerate sharp bends or twists in sensitive material. We describe and motivate an architecture for autonomy structured on the behavior-based control model augmented with a novel approach for performing behavior coordination using multi-objective optimization. We provide detailed in-field experimental results from recent exercises with two 21-inch AUVs in Monterey Bay California.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2007.364182